U.S. patent application number 10/411184 was filed with the patent office on 2003-10-09 for electronic pet system, network system, robot, and storage medium.
This patent application is currently assigned to SONY CORPORATION. Invention is credited to Fujita, Masahiro, Hattori, Masakazu, Hosonuma, Naoyasu, Kato, Yasuhiko, Yokoo, Naohiro.
Application Number | 20030191560 10/411184 |
Document ID | / |
Family ID | 26461699 |
Filed Date | 2003-10-09 |
United States Patent
Application |
20030191560 |
Kind Code |
A1 |
Yokoo, Naohiro ; et
al. |
October 9, 2003 |
Electronic pet system, network system, robot, and storage
medium
Abstract
This invention enables realization of an electronic pet with
more reality using various types of devices. Specifically, a
virtual electronic pet 202 and a pet-type robot 204 change the
state of the emotion and the state of the instinct as the internal
state of the electronic pet (information included in pet
characteristic information 203) in accordance with surrounding
information and internal information, and act in accordance with
the state of the emotion and the state of the instinct.
Transmission/reception of the internal state of the electronic pet
(pet characteristic information 203) is made possible among the
virtual electronic pet 202, the pet-type robot 204, and a personal
computer 201. Thus, the action of the electronic pet is implemented
by each device in accordance with the internal state of the
electronic pet changed by another equipment.
Inventors: |
Yokoo, Naohiro; (Kanagawa,
JP) ; Kato, Yasuhiko; (Tokyo, JP) ; Hattori,
Masakazu; (Kanagawa, JP) ; Fujita, Masahiro;
(Saitama, JP) ; Hosonuma, Naoyasu; (Saitama,
JP) |
Correspondence
Address: |
FROMMER LAWRENCE & HAUG LLP
745 FIFTH AVENUE
NEW YORK
NY
10151
US
|
Assignee: |
SONY CORPORATION
|
Family ID: |
26461699 |
Appl. No.: |
10/411184 |
Filed: |
April 10, 2003 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10411184 |
Apr 10, 2003 |
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09720760 |
Mar 12, 2001 |
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6560511 |
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09720760 |
Mar 12, 2001 |
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PCT/JP00/02856 |
Apr 28, 2000 |
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Current U.S.
Class: |
700/245 ;
318/568.11; 318/568.12; 700/259 |
Current CPC
Class: |
A63F 2300/8058 20130101;
G06N 3/006 20130101; A63H 11/00 20130101; A63H 2200/00 20130101;
G06N 3/008 20130101 |
Class at
Publication: |
700/245 ;
700/259; 318/568.11; 318/568.12 |
International
Class: |
G06F 019/00; G05B
019/00 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 30, 1999 |
JP |
11-125191 |
May 10, 1999 |
JP |
11-129207 |
Claims
1. An electronic pet system comprising: an information processing
device having transmission/reception means capable of transmitting
and receiving the internal state of an electronic pet, which is
changed in accordance with input information and is information for
causing the electronic pet to act, and image display means, the
information processing device being adapted for carrying out
processing for implementing the electronic pet by the image display
means; and a robot having transmission/reception means capable of
transmitting and receiving the internal state of the electronic
pet, which is changed in accordance with input information and is
information for causing the electronic pet to act, and a motion
section for moving in the real world, the robot being adapted for
controlling the motion section to carry out processing for
implementing the electronic pet as an existence in the real
world.
2. The electronic pet system as claimed in claim 1, wherein the
information processing device and the robot have storage means in
which the internal state is stored, and the internal state stored
in the storage means is transmitted and received by the
transmission/reception means.
3. The electronic pet system as claimed in claim 1, wherein the
internal state indicates at least one of the state of the emotion
and the state of the instinct.
4. The electronic pet system as claimed in claim 1, wherein the
input information is at least one of surrounding information and
internal information.
5. The electronic pet system as claimed in claim 1, wherein the
internal state is an internal state parameter expressed by a
parameter, and the internal state parameter is updated in
accordance with the input information.
6. The electronic pet system as claimed in claim 5, wherein when
the internal state parameter has reached a threshold value, a
predetermined action is selected and the action is actually carried
out.
7. The electronic pet system as claimed in claim 6, wherein when
the internal state parameter has reached a threshold value, a
plurality of actions are selected and one of the actions is
actually carried out.
8. The electronic pet system as claimed in claim 1, wherein the
robot actually carries out an action based on the internal state
via a posture or a motion to which the motion section can made
transition from the current posture.
9. An electronic pet system comprising: an information processing
device having radio transmission/reception means capable of
radio-transmitting and receiving the internal state of an
electronic pet, which is changed in accordance with input
information and is information for causing the electronic pet to
act, and image display means, the information processing device
being adapted for carrying out processing for implementing the
electronic pet by the image display means; and a robot having radio
transmission/reception means capable of radio-transmitting and
receiving the internal state of the electronic pet, which is
changed in accordance with input information and is information for
causing the electronic pet to act, and a motion section for moving
in the real world, the robot being adapted for controlling the
motion section to carry out processing for implementing the
electronic pet as an existence in the real world.
10. The electronic pet system as claimed in claim 9, wherein the
radio transmission/reception means of the information processing
device and of the robot employ Bluetooth radio interfaces.
11. The electronic pet system as claimed in claim 9, wherein the
information processing device and the robot have storage means in
which the internal state is stored, and the internal state stored
in the storage means is transmitted and received by the
transmission/reception means.
12. The electronic pet system as claimed in claim 9, wherein the
internal state indicates at least one of the state of the emotion
and the state of the instinct.
13. The electronic pet system as claimed in claim 9, wherein the
input information is at least one of surrounding information and
internal information.
14. The electronic pet system as claimed in claim 9, wherein the
internal state is an internal state parameter expressed by a
parameter, and the internal state parameter is updated in
accordance with the input information.
15. The electronic pet system as claimed in claim 14, wherein when
the internal state parameter has reached a threshold value, a
predetermined action is selected and the action is actually carried
out.
16. The electronic pet system as claimed in claim 15, wherein when
the internal state parameter has reached a threshold value, a
plurality of actions are selected and one of the actions is
actually carried out.
17. The electronic pet system as claimed in claim 9, wherein the
robot actually carries out an action based on the internal state
via a posture or a motion to which the motion section can made
transition from the current posture.
18. A network system comprising: one or more implementation devices
having transmission/reception means capable of transmitting and
receiving the internal state of a living body object, which is
changed in accordance with input information and is information for
causing the living body object to act, and the identification
information of the living body object, thus implementing the living
body object; a server device having management means for managing
the internal state of the living body object and the identification
information of the living body object, and transmission/reception
means capable of transmitting/receiving at least the internal state
and the identification information; wherein the implementation
devices and the server device are connected with each other via a
network.
19. The network system as claimed in claim 18, wherein the internal
state of the implementation devices is stored in storage means, and
the internal state stored in the storage means is transmitted and
received by the transmission/reception means.
20. The network system as claimed in claim 18, wherein the
implementation device is an information processing device for
carrying out processing for implementing the living body object by
image display means, or a robot which controls a motion section to
carry out processing for implementing the living body object as an
existence in the real world.
21. The network system as claimed in claim 20, wherein the robot
actually carries out an action based on the internal state via a
posture or a motion to which the motion section can made transition
from the current posture.
22. The network system as claimed in claim 18, wherein the internal
state indicates at least one of the state of the emotion and the
state of the instinct.
23. The network system as claimed in claim 18, wherein the input
information is at least one of surrounding information and internal
information.
24. The network system as claimed in claim 18, wherein the internal
state is an internal state parameter expressed by a parameter, and
the internal state parameter is updated in accordance with the
input information and the updated internal state parameter is
stored into the storage means.
25. The network system as claimed in claim 24, wherein when the
internal state parameter has reached a threshold value, a
predetermined action is selected and the action is-actually carried
out.
26. The network system as claimed in claim 25, wherein when the
internal state parameter has reached a threshold value, a plurality
of actions are selected and one of the actions is actually carried
out.
27. A network system comprising: an implementation device having
transmission/reception means capable of transmitting and receiving
the internal state of a living body object, which is changed in
accordance with input information and is information for causing
the living body object to act, thus implementing the living body
object; and an information processing device having
transmission/reception means capable of transmitting and receiving
the internal state of the living body object, the information
processing device controlling the action of the living body object
acting in a virtual world on the basis of the internal state of the
living body object, the information processing device carrying out
processing for displaying at least the virtual world and the living
body object; wherein information is transmitted and received
between the implementation device and the information processing
device via a network.
28. The network system as claimed in claim 27, wherein the
implementation device has storage means in which the living body
object is stored, and the internal state stored in the storage
means is transmitted and received by the transmission/reception
means.
29. The network system as claimed in claim 27, wherein the
implementation device and the network have radio
transmission/reception means employing a Bluetooth radio interface,
respectively, and are connected to each other via radio waves so as
to carry out transmission/reception of information.
30. The network system as claimed in claim 27, wherein the
implementation device is an information processing device for
carrying out processing for implementing the living body object by
image display means, or a robot which controls a motion section to
carry out processing for implementing the living body object as an
existence in the real world.
31. The network system as claimed in claim 30, wherein the robot
actually carries out an action based on the internal state via a
posture or a motion to which the motion section can made transition
from the current posture.
32. The network system as claimed in claim 27, wherein the internal
state indicates at least one of the state of the emotion and the
state of the instinct.
33. The network system as claimed in claim 27, wherein the input
information is at least one of surrounding information and internal
information.
34. The network system as claimed in claim 27, wherein the internal
state is an internal state parameter expressed by a parameter, and
the internal state parameter is updated in accordance with the
input information.
35. The network system as claimed in claim 34, wherein when the
internal state parameter has reached a threshold value, a
predetermined action is selected and the action is actually carried
out.
36. The network system as claimed in claim 35, wherein when the
internal state parameter has reached a threshold value, a plurality
of actions are selected and one of the actions is actually carried
out.
37. A robot adapted for storing the internal state of a living body
object, which is changed in accordance with input information and
is information for causing the living body object to act, and for
controlling a motion section to carry out processing for
implementing the living body object as an existence in the real
world, wherein the robot transfers at least the internal state to
an information processing device, which controls the action of a
living body object acting in a virtual world on the basis of the
internal state of the living body object in the robot and carries
out processing for displaying at least the virtual world and the
living body object.
38. The robot as claimed in claim 37, further comprising storage
means in which the internal state is stored, wherein the internal
state stored in the storage means is transferred.
39. The robot as claimed in claim 37, wherein the internal state
indicates at least one of the state of the emotion and the state of
the instinct.
40. The robot as claimed in claim 37, wherein the input information
is at least one of surrounding information and internal
information.
41. The robot as claimed in claim 37, wherein the internal state is
an internal state parameter expressed by a parameter, and the
internal state parameter is updated in accordance with the input
information and the updated internal state parameter is stored into
storage means.
42. The robot as claimed in claim 41, wherein when the internal
state parameter has reached a threshold value, a predetermined
action is selected and the action is actually carried out.
43. The robot as claimed in claim 44, wherein when the internal
state parameter has reached the threshold value, a plurality of
actions are selected and one of the actions is actually carried
out.
44. The robot as claimed in claim 37, wherein the robot actually
carries out an action based on the internal state via a posture or
a motion to which the motion section can made transition from the
current posture.
45. A storage medium which is adapted for storing data usable in an
information processing device and can be inserted to/ejected from a
slot provided in the information processing device, the storage
medium having indication means for indicating an accurate loading
position when loaded in the slot of the information processing
device.
46. The storage medium as claimed in claim 45, wherein the internal
state of a living body object, which is changed in accordance with
input information and is information for causing the living body
object to act, is stored, and the storage medium is loaded into the
information processing device as an implementation device for
implementing the living body object on the basis of the internal
state of the living body object.
47. The storage medium as claimed in claim 46, wherein the
implementation device is an information processing device for
carrying out processing for implementing the living body object as
an electronic pet by image display means, or a robot for carrying
out processing for implementing the living body object as an
electronic pet of an existence in the real world.
Description
TECHNICAL FIELD
[0001] This invention relates to an electronic pet system, a
network system, a robot, and a storage medium, and particularly to
an electronic pet system, a network system, a robot, and a storage
medium which enable realization of an electronic pet in various
types of devices.
BACKGROUND ART
[0002] Recently, so-called electronic pet devices (or breeding
simulation game machines) have been popular because of the easiness
in comparison with breeding of real animals as pets.
[0003] In an electronic pet device, an object of a virtual living
body is displayed as an electronic pet and a keeper (user of the
electronic pet device) is notified of the state of the electronic
pet such as the degree of starvation (hunger) or fatigue by an
image or a sound. The keeper (user) feeds or plays with the
electronic pet by operating the electronic pet device in accordance
with the state of the electronic pet. Thus, the electronic pet has
its state (state of the electronic pet) changed on the basis of the
keeper's actions and is thus bred. The electronic pet grows with
the lapse of time and therefore the state of the electronic pet is
also changed with the lapse of time.
[0004] Meanwhile, since the electronic pet device only displays the
electronic pet on the display screen, the displayed electronic pet
is a so-called virtual existence.
[0005] In the case where the electronic pet is realized by means
of, for example, a robot, which exists as a substance, the robot as
the electronic pet actually exists in the real world. In such a
case, with respect to the robot as the electronic pet, the keeper
(user) will have a feeling closer to the feeling in the case of
actually breeding a pet, than with the electronic pet displayed in
the electronic pet device.
[0006] However, in the case where the electronic pet is realized by
means of a robot, it is inconvenient to carry the robot in
traveling or the like. Therefore, it is more convenient if the
electronic pet can be realized as an actually existing robot in a
certain case and can be realized as a virtual existence in a
portable electronic pet device in another case.
[0007] Since the electronic pet realized in the conventional
electronic pet device generally has its state changed in accordance
with an input from the user or with the lapse of time and thus
takes an action, it lacks reality in comparison with the case of
breeding a real animal as a pet.
[0008] Specifically, for example, in the case where a dog as a real
animal is bred as a pet, when the dog wants the keeper to play with
him, the dog barks or wags his tail to draw the keeper's attention.
In this case, if the keeper keeps ignoring, the dog gets tired and
stops barking or wagging his tail and then takes an action such as
falling asleep. The real pet animal may be in high spirits after
sleeping.
[0009] On the other hand, the electronic pet realized in the
conventional electronic pet device (for example, an electronic pet
dog) continues barking or wagging its tail when wanting the keeper
to play, or stops such an action due to the lapse of time. Unlike
the real pet animal (for example, a dog), the electronic pet does
not get tired and fall asleep through barking or wagging its tail.
That is, in the electronic pet realized in the conventional
electronic pet device, the state of the electronic pet is not
changed in accordance with the action of the electronic pet itself,
and therefore does not take any action in accordance with such a
change of the state due to the action of the electronic pet itself
For these reasons, it is demanded to provide an electronic pet with
more reality.
DISCLOSURE OF THE INVENTION
[0010] In view of the foregoing status of the art, it is an object
of the present invention to provide an electronic pet system, a
network system, a robot, and a storage medium which enable
realization of an electronic pet with more reality in various types
of devices.
[0011] Specifically, an electronic pet system according to the
present invention has an information processing device and a robot.
The information processing device has transmission/reception means
capable of transmitting and receiving the internal state of an
electronic pet, which is changed in accordance with input
information and is information for causing the electronic pet to
act, and image display means, and carries out processing for
implementing the electronic pet by the image display means. The
robot has transmission/reception means capable of transmitting and
receiving the internal state of the electronic pet, which is
changed in accordance with input information and is information for
causing the electronic pet to act, and a motion section for moving
in the real world, and controls the motion section to carry out
processing for implementing the electronic pet as an existence in
the real world.
[0012] With such an electronic pet system, the internal state of
the electronic pet is changed in accordance with input information
and transmission/reception of the internal state is carried out
between the information processing device and the robot which cause
the electronic pet to act on the basis of the internal state. The
information processing device acts on the basis of the internal
state sent from the robot, and the robot acts on the basis of the
internal state sent from the information processing device.
[0013] Also, an electronic pet system according to the present
invention has an information processing device and a robot. The
information processing device has radio transmission/reception
means capable of radio-transmitting and receiving the internal
state of an electronic pet, which is changed in accordance with
input information and is information for causing the electronic pet
to act, and image display means, and carries out processing for
implementing the electronic pet by the image display means. The
robot has radio transmission/reception means capable of
radio-transmitting and receiving the internal state of the
electronic pet, which is changed in accordance with input
information and is information for causing the electronic pet to
act, and a motion section for moving in the real world, and
controls the motion section to carry out processing for
implementing the electronic pet as an existence in the real
world.
[0014] With such an electronic pet system, the internal state of
the electronic pet is changed in accordance with input information
and radio transmission/reception of the internal state is carried
out between the information processing device and the robot which
cause the electronic pet to act on the basis of the internal state.
The information processing device acts on the basis of the internal
state sent from the robot, and the robot acts on the basis of the
internal state sent from the information processing device.
[0015] A network system according to the present invention has one
or more implementation devices and a server device. The
implementation device has transmission/reception means capable of
transmitting and receiving the internal state of a living body
object, which is changed in accordance with input information and
is information for causing the living body object to act, and the
identification information of the living body object, thus
implementing the living body object. The server device has
management means for managing the internal state of the living body
object and the identification information of the living body
object, and transmission/reception means capable of
transmitting/receiving at least the internal state and the
identification information. The implementation devices and the
server device are connected with each other via a network.
[0016] With such a network system, the living body object in the
implementation device has its internal state and identification
information managed by the server device.
[0017] Also, a network system according to the present invention
has an implementation device and an information processing device.
The implementation device has transmission/reception means capable
of transmitting and receiving the internal state of a living body
object, which is changed in accordance with input information and
is information for causing the living body object to act, thus
implementing the living body object. The information processing
device has transmission/reception means capable of transmitting and
receiving the internal state of the living body object, controls
the action of the living body object acting in a virtual world on
the basis of the internal state of the living body object, and
carries out processing for displaying at least the virtual world
and the living body object.
[0018] With such a network system, the internal state of the living
body object in the implementation device, which is changed in
accordance with input information and is information for causing
occurrence of an action, is transferred to the information
processing device, which carries out processing for displaying at
least the virtual world and the living body object.
[0019] A robot according to the present invention is adapted for
storing the internal state of a living body object, which is
changed in accordance with input information and is information for
causing the living body object to act, and for controlling a motion
section to carry out processing for implementing the living body
object as an existence in the real world. The robot transfers at
least the internal state to an information processing device, which
controls the action of a living body object acting in a virtual
world on the basis of the internal state of the living body object
in the robot and carries out processing for displaying at least the
virtual world and the living body object.
[0020] Such a robot transfers the internal state, which is changed
in accordance with input information and is information for causing
occurrence of an action, to the information processing device,
which carries out processing for displaying at least the virtual
world and the living body object.
[0021] A storage medium according to the present invention is
adapted for storing data usable in an information processing device
and can be inserted to/ejected from a slot provided in the
information processing device. The storage medium has indication
means for indicating an accurate loading position when loaded in
the slot of the information processing device.
[0022] Thus, the user loads the storage medium into the slot of the
information processing device with reference to the indication
means.
BRIEF DESCRIPTION OF THE DRAWINGS
[0023] FIG. 1 is a block diagram showing the overall structure of
an embodiment of an electronic pet system to which the present
invention is applied.
[0024] FIG. 2 shows a more specific exemplary structure of the
electronic pet system.
[0025] FIG. 3 is a block diagram showing an exemplary structure of
a body section of the electronic pet system.
[0026] FIG. 4 is a block diagram showing an exemplary hardware
structure of a virtual electronic pet device.
[0027] FIG. 5 is a block diagram showing an exemplary hardware
structure of a pet-type robot.
[0028] FIG. 6 is a perspective view showing the specific structure
of the appearance of the pet-type robot.
[0029] FIG. 7 is a block diagram showing the more specific circuit
structure of the pet-type robot.
[0030] FIG. 8 is a block diagram showing the structure of a
controller.
[0031] FIG. 9 is a block diagram showing the structure of an
emotion/instinct model section.
[0032] FIG. 10 is a block diagram showing a group of emotions in
the emotion/instinct model section.
[0033] FIG. 11 is a block diagram showing the structure of an
emotion/instinct model section having strength
increasing/decreasing means.
[0034] FIG. 12 is a block diagram showing the structure of an
action decision mechanism section and the like used for explaining
generation of action command information.
[0035] FIG. 13 shows the state transition of a finite probability
automaton of an action model.
[0036] FIG. 14 shows a state transition table.
[0037] FIG. 15 shows a graph of posture transition in a posture
transition mechanism section.
[0038] FIG. 16 shows a specific example of the posture transition
graph.
[0039] FIG. 17 is a perspective view showing the schematic
structure of a pet-type robot.
[0040] FIGS. 18A and 18B are views for explaining the transition of
the posture between the entire body and respective portions on the
basis of a basic posture.
[0041] FIG. 19 is a view for explaining the execution of a target
motion after temporary transition to the basic posture in the case
where the current posture resides in the entire body and the target
motion resides in a portion.
[0042] FIG. 20 is a view for explaining the execution of a target
motion after temporary transition to the basic posture in the case
where the current posture resides in a portion and the target
motion resides in the entire body.
[0043] FIG. 21 shows pet characteristic information stored in an
individual information storage-section (IC card).
[0044] FIG. 22 is a view for explaining an IC card discriminated by
color.
[0045] FIG. 23 is a view for explaining a stick-shaped IC card
discriminated by color and having an arrow mark appended
thereto.
[0046] FIG. 24 is a view for explaining a stick-shaped IC card
discriminated by color and having a line appended thereto
indicating the boundary position.
[0047] FIG. 25 is a view for explaining a stick-shaped IC card
which is accurately loaded in a slot.
[0048] FIG. 26 is a view for explaining an exemplary label put on
the stick-shaped IC card.
[0049] FIGS. 27A and 27B show the bottom side and the lateral side
of the stick-shaped IC card.
[0050] FIG. 28 shows an example of connection of a second
embodiment of the present invention.
[0051] FIG. 29 is a block diagram showing the hardware structure of
an essential portion of a pet-type robot of the second
embodiment.
[0052] FIG. 30 is a front view showing the appearance of a virtual
electronic pet device of the second embodiment.
[0053] FIG. 31 is a block diagram showing the hardware structure of
an essential portion of the virtual electronic pet device of the
second embodiment.
[0054] FIG. 32 is a block diagram showing an example of connection
in which the virtual electronic pet device and the pet-type robot
are connected with each other by a USB cable.
[0055] FIG. 33 is a block diagram showing an example of connection
in which the virtual electronic pet device and the pet-type robot
are connected with each other by infrared rays.
[0056] FIG. 34 is a block diagram showing an example of connection
in which the virtual electronic pet device and the pet-type robot
are connected with each other by radio waves.
[0057] FIG. 35 is a block diagram showing an example of connection
in which the virtual electronic pet device and the pet-type robot
are connected with each other by a Bluetooth module.
[0058] FIG. 36 is a block diagram showing an example of connection
in which the pet-type robot and a personal computer are connected
with each other by a USB cable and in which the personal computer
is connected to the Internet.
[0059] FIG. 37 is a block diagram showing an example of connection
in which the pet-type robot and a personal computer are connected
with each other by infrared rays and in which the personal computer
is connected to the Internet.
[0060] FIG. 38 is a block diagram showing an example of connection
in which the pet-type robot and a personal computer are connected
with each other by radio waves and in which the personal computer
is connected to the Internet.
[0061] FIG. 39 is a block diagram showing an example of connection
in which the pet-type robot and a personal computer are connected
with each other by a Bluetooth module and in which the personal
computer is connected to the Internet.
[0062] FIG. 40 shows the flow of transfer of pet characteristic
information from the virtual electronic pet device to the pet-type
robot.
[0063] FIG. 41 shows the flow of transfer of pet characteristic
information from the pet-type robot to the virtual electronic pet
device.
[0064] FIG. 42 shows the flow in the case where transfer of pet
characteristic information is not carried out between the pet-type
robot and the virtual electronic pet device.
[0065] FIG. 43 shows the data format of a connection request
signal, a connection permission signal, and a reception end
signal.
[0066] FIG. 44 shows an exemplary system structure of the case of
managing the electronic pet by a pet shared server.
[0067] FIG. 45 is a block diagram showing an exemplary hardware
structure of the pet-type robot and the virtual electronic pet
device in the system structure for managing the electronic pet by
the shared server.
[0068] FIG. 46 is a view for explaining a specific example of the
case of leaving the electronic pet to the shared server and the
case of receiving the electronic pet from the shared server.
[0069] FIG. 47 conceptually shows an example in which the
electronic pet and an avatar of the user exist in a virtual
world.
[0070] FIG. 48 is a block diagram showing an exemplary hardware
structure of the pet-type robot and the virtual electronic pet
device in the system structure for managing the electronic pet by
the shared server, and showing the state where the pet-type robot
and the virtual electronic pet device are connected to the Internet
by a Bluetooth module.
[0071] FIG. 49 is a block diagram showing the detailed structure of
the system in the case where the electronic pet and the avatar of
the user exist in the virtual world.
[0072] FIG. 50 is a block diagram showing an exemplary structure of
a client PC used for the system of FIG. 49.
[0073] FIG. 51 is a view for explaining the flow of processing from
the browsing of a home page of a web site which provides VRML
contents, to the downloading of VRML to the client PC, in the
system of FIG. 49.
[0074] FIG. 52 is a view for explaining the flow of processing from
interpretation and execution of a VRML2.0 file by the client PC to
the inquiry of the URL of the shared server, in the system of FIG.
49.
[0075] FIG. 53 is a view for explaining the flow of processing in
which a plurality of client PCs receive data related to a
three-dimensional object via the shared server and realize a
multi-user environment.
BEST MODE FOR CARRYING OUT THE INVENTION
[0076] Preferred embodiments of the present invention will now be
described in detail with reference to the drawings.
[0077] FIG. 1 shows the overall structure of an electronic pet
system as a first embodiment of the present invention. (In this
specification, the system means a logical collection of a plurality
of devices, regardless of whether the respective devices are
included in the same casing or not.)
[0078] The electronic pet system has an individual information
storage section 1 and a body section 2, as shown in FIG. 1.
[0079] For example, an animal as a living body is considered to be
made up of the flesh and the soul residing in the flesh and
controlling the psychological function. The individual information
storage section 1 of the electronic pet system is equivalent to
such a soul of the animal and is constituted as hardware in the
electronic pet. The body section 2 is equivalent to such a flesh
and is constituted as software in the electronic pet.
[0080] Specifically, the individual information storage section 1,
which expresses the characteristics (emotions and physical
characteristics) of the electronic pet, can be said to function as
the soul of the electronic pet. The body section 2, which expresses
the actions of the electronic pets, can be said to function for
implementing the substantial or virtual flesh of the electronic pet
and representing the real actions with the substantial or virtual
flesh. The actions of the body section 2 are carried out on the
basis of the characteristics of the electronic pet held by the
individual information storage section 1. Therefore, the individual
information storage section 1 can be said to be the core of the
electronic pet.
[0081] The individual information storage section 1 can be
extracted from the body section 2 and can also be provided (to
reside) in other body sections 2.sub.1, 2.sub.2, . . . In this
case, the body section 2 in which the individual information
storage section 1 is not provided does not function as an
electronic pet. The electronic pet of this case is in a so-called
cast-off state.
[0082] On the other hand, the other body sections in which the
individual information storage section 1 is provided starts to
function as electronic pets having the original characteristics.
That is, the soul of the electronic pet can switch from one flesh
to another.
[0083] FIG. 2 shows a more specific exemplary structure of the
electronic pet system of FIG. 1.
[0084] The individual information storage section 1 of FIG. 1 is
expressed by, for example, an IC (integrated circuit) card 21. The
IC card 21 contains a stamp flash memory or the like and stores the
quantity of characteristics of instincts and emotions of the
electronic pet and the constitutional information of the body
section as will be described later (hereinafter referred to as pet
characteristic information).
[0085] The body section 2 of FIG. 1 is realized by, for example, a
virtual electronic pet device 22 or a pet-type robot 23. The
virtual electronic pet device 22 is constituted by a portable
information processing device for carrying out processing for
displaying a virtual electronic pet, and has a slot 22A for loading
the IC card 21 therein. The pet-type robot 23 is a robot having the
shape of an electronic pet and also has a slot 23A for loading the
IC card 21 therein. Although a quadrupedal robot is used as an
example of the pet-type robot in the embodiments of the present
invention, the form of the robot is not particularly limited and
various arbitrary forms can be employed such as a bipedal robot, a
robot having wings, a robot having wheels, a robot with no limb,
and combination or modification of various parts. The present
invention is applicable to robots of various forms.
[0086] Both the virtual electronic pet device 22 and the pet-type
robot 23 are devices which function as the body section of the
electronic pet and do not take any action by themselves.
Specifically, as the IC card 21 is loaded therein, the virtual
electronic pet device 22 and the pet-type robot 23 function as
electronic pets. In the case of the virtual electronic pet device
22, an electronic pet is displayed on its monitor and the
electronic pet displayed on the monitor takes an action based on
the pet characteristic information stored on the IC card 21.
Similarly, the pet-type robot 23 takes an action based on the pet
characteristic information stored on the IC card 21.
[0087] With such an electronic pet system, the user at home can
enjoy the feeling close to the feeling of actually keeping a pet by
loading the IC card 21 into the slot 23A of the pet-type robot 23.
When the user goes on a trip, the user can easily carry the
electronic pet to the destination by detaching the IC card 21 from
the pet-type robot 23 and loading the IC card 21 into the virtual
electronic pet device 22.
[0088] FIG. 3 shows an exemplary electrical structure of the body
section 2 of FIG. 1. The body section 2 is assumed to be the
virtual electronic pet device 22 and the pet-type robot 23, which
will be later described further in detail.
[0089] An I/F (interface) 10 is equivalent to the slot 22A of the
virtual electronic pet device 22 or the slot 23A of the pet-type
robot 23 of FIG. 1, and functions as an interface for transmission
of data between the individual information storage section 1 and
the body section 2. Specifically, the I/F 10 reads out information
(pet characteristic information) expressing the characteristics of
instincts and emotions of the electronic pet and the structure of
the body section and supplies the information to an internal state
calculation section 11. The I/F 10 also writes the information
obtained as a result of predetermined calculation at the internal
state calculation section 11 to the individual information storage
section 1 and updates the storage contents.
[0090] To the internal state calculation section 11, inputs from an
external input section 12 and a time input section 13 are supplied
as well as the pet characteristic information from the I/F 10 as
described above. Moreover, specific actions of the electronic pet
obtained by an action conversion section 15 are fed back to the
internal state calculation section 11. The internal state
calculation section 11 drives emotion and instinct models stored in
a model storage section 14 in accordance with the input from the
I/F 10, the external input section 12, the time input section 13,
or the action conversion section 15, and updates the internal state
of the electronic pet. The internal state of the electronic pet
relates to the information of emotions and instincts included in
the pet characteristic information from the I/F 10, as will be
described later, and the updated internal state is written to the
individual information storage section 1 via the I/F 10. The
internal state calculation section 11 also decides a motion
(conceptual motion) to be made by the electronic pet, and outputs a
command (motion command) instructing the execution of that motion
(conceptual motion) to the action conversion section 15, which
carries out control to output the real action.
[0091] The external input section 12 supplies stimuli given by the
user or from the external environment to the internal state
calculation section 11.
[0092] In the case where the body section 2 is the virtual
electronic pet device 22, the external input section 12 is
constituted by a keyboard (or switches and buttons), a microphone,
and a voice recognition device. The external input section 12
changes an operation or a speech made by the user for taking care
of the electronic pet, into an electric signal, and supplies the
electric signal to the internal state calculation section On the
other hand, in the case where the body section 2 is the pet-type
robot 23, the external input section 12 is constituted by a
keyboard, a microphone, a voice recognition device, a photoelectric
conversion element, an image recognition device, and a sensor
(e.g., a temperature sensor). The external input section 12 changes
an operation or a speech made by the user for taking care of the
electronic pet, into an electric signal, and supplies the electric
signal to the internal state calculation section 11. The external
input section 12 also supplies information about surrounding
objects and temperature to the internal state calculation section
11.
[0093] The time input section 13 keeps time (including the year,
month and day) and supplies the time (current time) to the internal
state calculation section 11.
[0094] The model storage section 14 stores models of emotions and
instincts (emotion/instinct models) of the electronic pet. As the
emotions of the electronic pet, for example, joy, sadness, anger,
surprise, fear, and hatred are set, and the model storage section
14 stores a model of these emotions (e.g., computational formulas
for finding parameters expressing these emotions). As the instincts
of the electronic pet, for example, movement instinct, love
instinct, recharge instinct, and search instinct are set, and the
model storage section 14 stores a model of these instincts. The
internal state of the electronic pet is constituted by the state of
emotion and the state of instinct.
[0095] The body section 2 has the emotion and instinct models of
the same structure, irrespective of whether it is the virtual
electronic pet device 22 or the pet-type robot 23. Thus, even when
the IC card 21 is exchanged between the virtual electronic pet
device 22 and the pet-type robot 23, the characteristics and
actions of the electronic pet are not changed to those of different
electronic pets.
[0096] The action conversion section 15 converts a conceptual
motion command from the internal state calculation section 11 to a
command (action command) instructing a specific action (such as an
action, motion, or posture). The action conversion section 15
supplies the command to an output section 16 and also supplies the
command to the internal state calculation section 11 as a
feedback.
[0097] The output section 16 makes an output in accordance with the
action command from the action conversion section 15. Specifically,
the output section 16 causes the electronic pet to take the action
in accordance with the action command from the action conversion
section 15.
[0098] In the case where the body section 2 is the virtual
electronic pet device 22, the output section 16 is constituted by a
monitor, a voice synthesizer (e.g., a rule-based voice
synthesizer), and a speaker. Thus, the output of the output section
16 changes the display of the electronic pet and outputs a
voice.
[0099] On the other hand, in the case where the body section 2 is
the pet-type robot 23, the output section 16 is constituted by
motion sections such as motors for driving members corresponding to
the limbs, trunk, head and tail, and a voice synthesizer and a
speaker. Thus, the output of the output section 16 rotates a
predetermined motor and outputs a voice.
[0100] The structure of the virtual electronic pet device 22 and
the pet-type robot 23 will be described using a more specific
example. FIG. 4 shows an exemplary hardware structure of the
virtual electronic pet device 22.
[0101] A CPU (central processing unit) 31 is adapted for carrying
out various types of processing in accordance with a program stored
in a ROM (read only memory) 32. A timer circuit 31A counts a clock,
not shown, and generates a timer interruption for every
predetermined unit time (e.g., 100 ms) to the CPU 31 on the basis
of the count value.
[0102] The ROM 32 stores a program to be executed by the CPU 31 and
data necessary for the execution of the program. A RAM (random
access memory) 33 stores data necessary for the operation of the
CPU 31.
[0103] An I/F 34 functions as an interface between the CPU 31 on
one hand and an A/D converter 36, an operation section 37, an IC
card connector 38, a D/A converter 39 and a liquid crystal
controller 41 on the other.
[0104] Of the above-mentioned sections, the CPU 31, the ROM 32, the
RAM 33 and the I/F 34 are interconnected via a bus (address bus or
data bus).
[0105] A microphone 35 converts a sound inputted thereto (e.g., a
whistle sound or the like) to an audio signal as an analog electric
signal and supplies the audio signal to the A/D converter 36. The
A/D converter 36 carries out A/D conversion of the analog audio
signal from the microphone and outputs the resultant digital audio
signal to the CPU 31 via the I/F 34.
[0106] In the case where the CPU 31 has thus received the audio
signal, the CPU 31 carries out linear prediction analysis of the
audio signal so as to extract the characteristic quantity, and
carries out voice recognition based on an HMM (hidden Markov model)
method. A program to be executed by the CPU 31 for voice
recognition and word models as the objects of voice recognition are
stored, for example, in the ROM 32. In this case, as the word
models to be the objects of voice recognition, particularly the
words models used by the keeper to talk to the pet are stored. The
words to be stored include "Hey", "Good boy", "Good morning", "Good
night", "Paw", "Sit", "What are you doing?" and the like.
[0107] The method of acoustic analysis is not limited to the linear
prediction analysis, and the method of voice recognition is not
limited to the HMM method.
[0108] The operation section 37 is constituted by various buttons
and keys and supplies a signal corresponding to the operation from
the user to the CPU 31 via the I/F 34. Thus, the CPU 31 can
recognize the buttons and keys operated by the user. The operation
section 37 has buttons for providing various inputs to the
electronic pets such as a "scold" button, which is operated for
scolding the electronic pet, a "praise" button, which is operated
for praising the electronic pet, a "greeting" button corresponding
to saying "Good morning" or "Good night", and a "paw" button and a
"sit" button, which are operated for instructing the electronic pet
to raise the paw or to sit as a performance.
[0109] The IC card connector 38 is provided in the slot 22A of the
virtual electronic pet device 22 (FIG. 2), and is adapted for
electrically connecting the IC card 21 with the CPU 31 via the I/F
34 when the IC card 21 is loaded in the slot 22A. In this case, the
CPU 31 reads data from and writes data to the IC card 21 via the
I/F 34 and the IC card connector 38. The CPU 31 can also detect the
loading of the IC card 21.
[0110] The D/A converter 39 carries out D/A conversion of the
digital audio signal supplied from the CPU 31 via the I/F 34 and
supplies the resultant analog audio signal to a speaker 40. The
speaker 40 contains an amplifier to amplify the audio signal from
the D/A converter 39 and to output the amplified audio signal. The
CPU 31 generates a voice of the electronic pet or other necessary
sounds by voice synthesis, if necessary, and outputs the
synthesized sound to the D/A converter 39 via the I/F 34. A program
for carrying out voice synthesis and data necessary for voice
synthesis are stored, for example, in the ROM 32.
[0111] The liquid crystal controller 41 is controlled by the CPU 31
via the I/F 34 and displays various images (e.g., an image of the
electronic pet) and characters on a liquid crystal display section
42. The liquid crystal display section 42 displays images and
characters under the control of the liquid crystal controller 41.
The ROM 32 stores a program for displaying images and characters on
the liquid crystal display section 42 by controlling the liquid
crystal controller 41, and the CPU 31 executes this program, thus
displaying images and characters on the liquid crystal display
section 42.
[0112] The foregoing is the exemplary hardware structure of the
virtual electronic pet device 22. An exemplary hardware structure
of the pet-type robot 23 will now be described. The exemplary
hardware structure of the pet-type robot 23 is as shown in FIG.
5.
[0113] In FIG. 5, the portions corresponding to those of the
virtual electronic pet device 22 of FIG. 4 are denoted by the same
numerals. Specifically, the pet-type robot 23 has basically the
same structure as the virtual electronic pet device 22, except for
a motor 51 and a driving mechanism 52 provided in place of the
liquid crystal controller 41 and the liquid crystal display section
42.
[0114] The motor 51 is controlled by the CPU 31 via the I/F 34 and
is adapted for driving the driving mechanism 52. The driving
mechanism 52 constitutes, for example, the head, limbs, trunk or
tail as moving parts of the pet-type robot 23 and is driven by the
motor 51.
[0115] The I/F 34 and the IC card connector 38 of FIGS. 4 and 5
correspond to the I/F 10 of FIG. 3, and the CPU 31 and the ROM 32
of FIGS. 4 and 5 correspond to the internal state calculation
section 11 and the action conversion section 15 of FIG. 3. The
microphone 35, the A/D converter 36 and the operation section 37 of
FIGS. 4 and 5 correspond to the external input section 12 of FIG.
3. The timer circuit 31A of FIGS. 4 and 5 corresponds to the time
input section 13 of FIG. 3, and the ROM 32 of FIGS. 4 and 5
corresponds to the model storage section 14 of FIG. 3. Moreover,
the D/A converter 39 and the speaker 40 of FIGS. 4 and 5, the
liquid crystal controller 41 and the liquid crystal display section
42 of FIG. 4, or the motor 51 and the driving mechanism 52 of FIG.
5 correspond to the output section 16 of FIG. 3.
[0116] The pet-type robot 23 will be described further in detail.
The overall shape (appearance) of the pet-type robot 23 is
constituted by coupling a head portion 61 corresponding to the
head, a trunk portion 62 corresponding to the trunk, limb portions
63A, 63B, 63C and 63D corresponding to the four limbs, and a tail
portion 64 corresponding to the tail, as shown in FIG. 6. The
pet-type robot 23 of such a structure moves the head portion 61,
the limb portions 63A to 63D, and the tail portion 64 with respect
to the trunk portion 62, thus moving like a real quadrupedal
animal. The pet-type robot 23 has the slot for loading the IC card
21, though not shown.
[0117] On the head portion 61, an image recognition section 71 made
up of a CCD (charge coupled device) camera corresponding to the
eyes for picking up an image, a microphone 72 corresponding to the
ears for picking up a sound, and a speaker 73 corresponding to the
mouth for generating a sound are attached at predetermined
positions, as shown in FIG. 7. Also, on the head portion 61, a
remote controller receiving section 74 for receiving a command
transmitted from the user via a remote controller (not shown), a
touch sensor 75 for detecting the tough by the user's hand or the
like, and a LED (light-emitting diode) 76 made up of light-emitting
means are attached.
[0118] On the trunk portion 62, a battery 77 is attached at a
position corresponding to the abdomen, and an electronic circuit
(not shown) for controlling the operation of the entire pet-type
robot 23 is housed inside the trunk portion 62.
[0119] Joint portions of the limb portions 63A to 63D, coupling
portions between the limb portions 63A to 63D and the trunk portion
62, a coupling portion between the trunk portion 62 and the head
portion 61, and a coupling portion between the trunk portion 62 and
the tail portion 64 are coupled by their respective actuators 78A
to 78N and are driven under the control of the electronic circuit
housed inside the trunk portion 62. By thus driving the actuators
78A to 78N, the pet-type robot 23 moves like a real quadrupedal
animal, for example, shakes the head portion 61 vertically and
horizontally, wags the tail portion 64, and moves the limb portions
63A to 63D to walk or run.
[0120] Such a pet-type robot 23 changes the internal state such as
emotions and instincts on the basis of input information like
circumferential information and internal information (e.g.,
information of the remaining capacity of the battery). The internal
state is stored on the IC card 21.
[0121] The pet-type robot 23 controls the motion sections such as
the head portion 61, the trunk portion 62, the limb portions 63A to
63D and the tail portion 64 (which are moved by the actuators 78A
to 78N) on the basis of the changed internal state, and thus
realizes the electronic pet in the real world. The circuit
structure of such a pet-type robot 23 will now be described in
detail with reference to FIG. 7.
[0122] The head portion 61 has a command receiving section 80 made
up of the microphone 72 and the remote controller receiving section
74, an external sensor 81 made up of the image recognition section
71 and the tough sensor 75, the speaker 73, and the LED 76. The
trunk section 62 has the battery 77, and also has therein a
controller 82 for controlling the operation of the entire pet-type
robot 23, and an internal sensor 85 made up of a battery sensor 83
for detecting the remaining capacity of the battery 77 and a heat
sensor 84 for detecting the heat generated within the pet-type
robot 23. Moreover, the actuators 78A to 78N are provided at
predetermined positions in the pet-type robot 23.
[0123] The command receiving section 80 is adapted for receiving
commands given to the pet-type robot 23 from the user such as
"Walk", "Down", and "Chase the ball", and is constituted by the
microphone 72 and the remote controller receiving section 74.
[0124] The remote controller receiving section 74 receives a
desired command inputted by the user operating the remote
controller (not shown). For example, the transmission of a command
from the remote controller is carried out using an infrared ray.
The remote controller receiving section 74 receives this infrared
ray to generate a received signal S1A and sends it to the
controller 82.
[0125] The remote controller is not limited to the one using
infrared rays but may also be adapted for giving a command to the
pet-type robot 23 by using the musical scale. In such a case, the
pet-type robot 23 carries out processing corresponding to the
musical scale from the remote controller inputted from the
microphone 72.
[0126] When the user generates a voice in accordance with a desired
command, the microphone 72 picks up the voice generated by the user
to generate an audio signal S1B and sends it to the controller
82.
[0127] The command receiving section 80 thus generates a command
signal S1 made up of the received signal S1A and the audio signal
S1B in accordance with the command given to the pet-type robot 23
from the user, and supplies the command signal S1 to the controller
82.
[0128] The touch sensor 75 of the external sensor 81 is adapted for
detecting the approach from the user to the pet-type robot 23, for
example, "pat", "slap" and the like. For example, when the user
touches the touch sensor 75 and takes a desired manner of approach,
the touch sensor 75 generates a touch detection signal S2A
corresponding to that approach and sends it to the controller
82.
[0129] The image recognition section 71 of the external sensor 81
is adapted for detecting the environment information around the
pet-type robot 23 such as "dark" or "there is my favorite toy", or
the motion of other robot devices such as "another robot is
running", as a result of identifying the environment around the
pet-type robot 23. This image recognition section 71 sends an image
signal S2B obtained as a result of picking up the image of the
surroundings, to the controller 82.
[0130] The external sensor 81 thus generates an external
information signal S2 made up of the touch detection signal S2A and
the image signal S2B in accordance with the external information
provided from outside the pet-type robot 23, and sends the external
information signal S2 to the controller 82.
[0131] The internal sensor 85 is adapted for detecting the internal
information of the pet-type robot 23 itself, for example, "I'm
hungry", which means the battery capacity is lowered, "I have a
fever" and the like. The internal sensor 85 is constituted by the
battery sensor 83 and the heat sensor 84.
[0132] The battery sensor 83 is adapted for detecting the remaining
capacity of the battery 77, which supplies the power to each
circuit of the pet-type robot 23. This battery sensor 83 sends a
battery capacity detection signal S3A as a result of detection to
the controller 82.
[0133] The heat sensor 84 is adapted for detecting the heat within
the pet-type robot 23. This, heat sensor 84 sends a heat detection
signal S3B as a result of detection to the controller 82.
[0134] The internal sensor 85 thus generates an internal
information signal S3 made up of the battery capacity detection
signal S3A and the heat detection signal S3B in accordance with the
internal information of the pet-type robot 23, and sends it to the
controller 82.
[0135] The image recognition 71, the microphone 72, the remote
controller receiving section 74, the touch sensor 75 and the like
shown in FIG. 7 correspond to the external input section 12 shown
in FIG. 3. The actuators 78A to 78N shown in FIG. 7 correspond to
the output section 16 shown in FIG. 3. As a matter of course, the
constituent parts that are not shown in FIG. 7 but shown in FIG. 3
or FIG. 5 may also be provided as the constituent parts of the
pet-type robot 23 of FIG. 7. For example, the constituent part such
as the time input section 13 may be provided.
[0136] The controller 82 generates control signals S5A to S5N for
driving the actuators 78A to 78N on the basis of the input
information, that is, the command signal S1 supplied from the
command receiving section 80, the external information signal S2
supplied from the external sensor 81 and the internal information
signal S3 supplied from the internal sensor 85, and sends these
control signals to drive the actuators 78A to 78N, thus operating
the pet-type robot 23.
[0137] The controller 82 generates an audio signal S10 or a
light-emitting signal 11 to be outputted to the outside, if
necessary, and outputs the audio signal S10 to the outside via the
speaker 73 or sends the light-emitting signal S11 to the LED 76 to
carry out desired light-emitting output (e.g., flashing or changing
the color), thus notifying the user of the necessary information.
For example, by the light-emitting output, the controller 82
notifies the user of the emotion of the electronic pet. An image
display section for displaying an image can be provided in place of
the LED 76. Thus, it is possible to notify the user of the
necessary information like the emotion by displaying a desired
image. The processing at the controller 82 will now be described in
detail.
[0138] The controller 82 carries out software-like data processing
on the command signal S1 supplied from the command receiving
section 80, the external information signal S2 supplied from the
external sensor 81 and the internal information signal S3 supplied
from the internal sensor 85 on the basis of a program stored in
advance in a predetermined storage area, and supplies control
signals S5 obtained as a result to the actuators 78A to 78N. The
actuators 78A to 78N operate on the basis of the control signals
S5A, S5B, . . . , S5N.
[0139] As shown in FIG. 8, the contents of the data processing at
the controller 82 are functionally classified into an
emotion/instinct model section 90 as emotion/instinct model change
means, an action decision mechanism section 91 as motion decision
means, a posture transition mechanism section 92 as posture
transition means, and a control mechanism section 93. The command
signal S1, the external information signal S2 and the internal
information signal S3 supplied from outside are inputted to the
emotion/instinct model section 90 and the action decision mechanism
section 91. These sections roughly function as follows.
[0140] The emotion/instinct model section 90 decides the state of
emotions and instincts on the basis of the command signal S1, the
external information signal S2 and the internal information signal
S3. The action decision mechanism section 91 decides the next
motion (action) on the basis of the emotion/instinct state
information S10 obtained by the emotion/instinct model section 90
in addition to the command signal S1, the external information
signal S2 and the internal information signal S3, and the posture
transition mechanism section 92 on the subsequent stage makes a
posture transition plan for shifting to the next motion (action)
decided by the action decision mechanism section 91. The
information of the motion (action) decided by the action decision
mechanism section 91 is fed back to the emotion/instinct model
section 90, and the emotion/instinct model section 90 decides the
state of emotions and instincts with reference to the decided
motion (action). That is, the emotion/instinct model section 90
decides the instinct and emotion also with reference to the motion
(action) result.
[0141] The control mechanism section 93 controls each motion
section in accordance with the posture transition information S18
sent on the basis of the posture transition plan from the posture
transition mechanism section 92, then actually shifts the posture,
and then actually carries out the next motion (action) decided by
the action decision mechanism section 91.
[0142] That is, using the above-described controller 82, the
pet-type robot 23 decides the next motion (action) on the basis of
the emotions and instincts, then makes the transition plan for
realizing the posture to enable execution of such a motion
(action), then shifts the posture on the basis of the transition
plan, and actually executes the motion (action) decided on the
basis of such emotions and instincts.
[0143] The function of the model storage section 14 for emotions
and instincts and the internal state calculation section 11 shown
in FIG. 3 is realized by the emotion/instinct model section 90
shown in FIG. 8, and the function of the action conversion section
15 shown in FIG. 3 is realized by the action decision mechanism
section 91, the posture transition mechanism section 92 and the
control mechanism section 93 shown in FIG. 8. The constituent parts
of the above-described controller 82 will now be described.
[0144] The emotion/instinct model section 90 generally has a group
of emotions 100 constituting the emotion model, and a group of
instincts 101 constituting the instinct model prepared as a model
with different attributes from those of the emotion model, as shown
in FIG. 9.
[0145] In this case, the emotion model is a model which is
constituted by emotion parameters having certain values and adapted
for expressing the emotion prescribed for the robot device by means
of a motion corresponding to the values of the emotion
parameters.
[0146] The emotion parameters have their values increased or
decreased mainly in accordance with an external input signal
(circumferential information or external element) indicating "being
slapped" or "being scolded" detected by a sensor like a pressure
sensor or a visual sensor. Of course, in some cases, the emotion
parameters may be changed in accordance with an internal input
signal (internal information or internal element) such as the
remaining capacity of the battery or the temperature within the
body. Also, the emotion parameters are changed simply with the
lapse of time.
[0147] The instinct model is a model which is constituted by
instinct parameters having certain values and adapted for
expressing the instinct (desire) prescribed for the robot device by
means of a motion corresponding to the values of the instinct
parameters. The instinct parameters have their values increased or
decreased mainly in accordance with an internal input signal
indicating "I want to move" based on the action record or "I need
recharge (I'm hungry)" based on the remaining capacity of the
battery. Of course, similar to the emotion parameters, the instinct
parameters may be changed in accordance with an external input
signal. Also, the instinct parameters are changed simply with the
lapse of time.
[0148] The emotion model and the instinct model are constituted by
a plurality of types of models having the same attributes,
respectively. Specifically, the group of emotions 100 has emotion
units 100A to 100F as independent emotion models having the same
attribute, and the group of instincts 101 has instinct units 101A
to 101D as independent instinct models having the same
attribute.
[0149] The group of emotions 100 has the emotion unit 100A
expressing the emotion of "joy", the emotion unit 100B expressing
the emotion of "sadness", the emotion unit 100C expressing the
emotion of "anger", the emotion unit 100E expressing the emotion of
"surprise", and the emotion unit 100F expressing the emotion of
"hatred".
[0150] The group of instincts 101 has the instinct unit 101A
expressing the "movement instinct", the instinct unit 101B
expressing the "love instinct", the instinct unit 101C expressing
the "recharge instinct", and the instinct unit 101D expressing the
"search instinct".
[0151] With respect to the emotion units 100A to 100F, the degree
of the emotion is expressed by the strength (emotion parameter) of,
for example, 0 to 100, and the strength of the emotion is changed
every moment on the basis of the supplied command signal S1,
external information signal S2 and internal information signal S3.
Thus, the emotion/instinct model 90 expresses the state of the
emotion of the pet-type robot 23 by combining the strengths of the
emotion units 100A to 100F which are changed every moment, and thus
forms a model of emotional changes along the time.
[0152] Moreover, desired emotion units affect each other to change
the strength. For example, the emotion units are coupled in a
mutually suppressive manner or in a mutually stimulative manner so
as to affect each other, thus changing the strength.
[0153] Specifically, as shown in FIG. 10, if the emotion unit 100A
of "joy" and the emotion unit 100B of "sadness" are coupled in a
mutually suppressive manner, when the pet-type robot is praised by
the user, the strength of the emotion unit 100A of "joy" is
increased, and the strength of the emotion unit 100B of "sadness"
is reduced in accordance with the increase in the strength of the
emotion unit 100A of "joy" even though the input information S1 to
S3 for changing the strength of the emotion unit 100B of "sadness"
is not supplied. Similarly, when the strength of the emotion unit
100B of "sadness" is increased, the strength of the emotion unit
100A of "joy" is reduced in accordance with the increase in the
strength of the emotion unit 100B of "sadness".
[0154] If the emotion unit 100B of "sadness" and the emotion unit
100C of "anger" are coupled in a mutually stimulative manner, when
the pet-type robot is slapped by the user, the strength of the
emotion unit 100C of "anger" is increased, and the strength of the
emotion unit 100B of "sadness" is increased in accordance with the
increase in the strength of the emotion unit 100C of "anger" even
though the input information S1 to S3 for changing the strength of
the emotion unit 100B of "sadness" is not supplied. Similarly, when
the strength of the emotion unit 100B of "sadness" is increased,
the strength of the emotion unit IOOC of "anger" is increased in
accordance with the increase in the strength of the emotion unit
100B of "sadness".
[0155] As the desired emotion units thus affect each other to
change the strength, a change of the strength of one of the coupled
emotion units leads to a change of the strength of the other
emotion unit, thus realizing the pet-type robot 23 having natural
emotions.
[0156] With respect to the emotion units 101A to 101D, similar to
the emotion units 10OA to 100F, the degree of the instinct is
expressed by the strength (instinct parameter) of, for example, 0
to 100, and the strength of the instinct is changed every moment on
the basis of the supplied command signal S1, external information
signal S2 and internal information signal S3. Thus, the
emotion/instinct model 90 expresses the state of the instinct of
the pet-type robot 23 by combining the strengths of the instinct
units 101A to 101D which are changed every moment, and thus forms a
model of instinct changes along the time.
[0157] Moreover, similar to the case of coupling the emotion units,
desired instinct units affect each other to change the strength.
For example, the instinct units are coupled in a mutually
suppressive manner or in a mutually stimulative manner so as to
affect each other, thus changing the strength. Thus, when the
strength of one of the coupled instinct units is changed, the
strength of the other instinct unit is changed accordingly, and the
pet-type robot 23 having natural instincts is realized.
[0158] Furthermore, the units of the group of emotions 100 and the
group of instincts 101 affect each other to change the strength.
For example, changes of the strength of the instinct unit 101B
expressing "love instinct" and the instinct unit 101C expressing
"recharge instinct" of the group of instincts 101 affect changes of
the strength of the emotion unit 100B expressing "sadness" and the
emotion unit 100C expressing "anger" of the group of emotions 100.
Thus, if the "love instinct" is satisfied, the emotion of "anger"
and the emotion of "sadness" are suppressed, and if the "recharge
instinct" is not satisfied, the emotion of "anger" and the emotion
of "sadness" are increased. With such interaction between emotions
and instincts, it is possible to express the state where emotions
and instincts affect one another complicatedly.
[0159] As is described above, the emotion/instinct model section 90
changes the strength of the emotion units 100A to 100F and the
instinct units 101A to 101D, using the input information S1 to S3
consisting of the command signal S1, the external information
signal S2 and the internal information signal S3, or the
interaction between the emotion units of the group of emotions 100,
the interaction between the instinct units of the group of
instincts 101, and the interaction between the units of the group
of emotions 100 and the group of instincts 101.
[0160] The emotion/instinct model section 90 decides the state of
the emotion by combining the changed strengths of the emotion units
100A to 100F, and decides the state of the instinct by combining
the changed strengths of the instinct units 101A to 101D. The
emotion/instinct model section 90 then sends the decided state of
the emotion and the decided state of the instinct as
emotion/instinct state information S10 to the action decision
mechanism section 91.
[0161] The emotion/instinct model section 90 is supplied with
action information S12 indicating the contents of the current or
past action of the pet-type robot 23 itself from the action
decision mechanism section 91 on the subsequent stage. For example,
in the case where an action of walking is decided by the action
decision mechanism section 91, which will be described later, the
action information S12 indicating that the pet-type robot "has
walked for a long time" is supplied.
[0162] By thus feeding back the action information S12, different
emotion/instinct state information S10 can be generated in
accordance with the action of the pet-type robot 23 indicated by
the action information S12, even though the same input information
S1 to S3 is provided. Specifically, with the following structure,
the action information S12 that is fed back is referred to in
deciding the state of the emotion and the state of the
instinct.
[0163] As shown in FIG. 11, in the emotion/instinct model section
90, strength increase/decrease means 102A to 102C for generating
strength information S14A to S14C for increasing/decreasing the
strengths of the emotion units 100A to 100C on the basis of the
action information S12 indicating the action of the pet-type robot
23 and the input information S1 to S3 are provided on the stage
prior to the emotion units 100A to 100C, and the strengths of the
emotion units 100A to 100C are increased/decreased in accordance
with the strength information S14A to S14C outputted from the
strength increase/decrease means 102A to 102C.
[0164] For example, when the pet-type robot greets the user and is
patted on the head by the user, that is, when the action
information S12 indicating that the pet-type robot has greeted and
the input information S1 to S3 indicating that the pet-type robot
is patted on the head are supplied to the strength
increase/decrease means 102A, the emotion/instinct model section 90
increases the strength of the emotion unit 100A of "joy". On the
other hand, when the pet-type robot which is carrying out a certain
task is patted on the head, that is, when the action information
S12 indicating that the pet-type robot is carrying out a task and
the input information S1 to S3 indicating that the pet-type robot
is patted on the head are supplied to the strength
increase/decrease means 102A, the emotion/instinct model section 90
does not change the strength of the emotion unit 100A of "joy". The
strength increase/decrease means 102A is constituted, for example,
as a function or a table for generating the strength information
S14A to S14C on the basis of the action information S12 and the
input information S1 to S3. The other strength increase/decrease
means 102B and 102C are similarly constituted.
[0165] Thus, since the emotion/instinct model section 90 has the
strength increase/decrease means 102A to 102C and decides the
strengths of the emotion units 100A to 100C with reference to not
only the input information S1 to S3 but also the action information
S12 indicating the current or past action of the pet-type robot 23,
it is possible to avoid occurrence of an unnatural emotion such
that the strength of the emotion unit 100A of "joy" is increased
when the user pats the pet-type robot on the head with a
mischievous intention while the pet-type robot is carrying out a
certain task. Similarly, the emotion/instinct model section 90 also
increases or decreases the strengths of the instinct units 101A to
101C on the basis of the input information S1 to S3 and the action
information S12 supplied thereto.
[0166] In the present embodiment, the strength increase/decrease
means 102A to 102C are provided for the emotion units 100A to 100C
of "joy", "sadness" and "anger". However, it is a matter of course
that the present invention is not limited to such a structure and
that strength increase/decrease means can also be provided for the
other emotion units 100D to 100F of "surprise", "fear" and
"hatred".
[0167] As is described above, when the input information S1 to S3
and the action information S12 are inputted, the strength
increase/decrease means 102A to 102C generate and output the
strength information S14A to S14C in accordance with a
predetermined parameter. Therefore, by varying the value the
parameter for each pet-type robot 23, the individuality such as
being quick-tempered or cheerful can be provided for the robot.
[0168] The processing at the action decision mechanism section 91
will now be described. Specifically, the action decision mechanism
section 91 decides the next motion (action) on the basis of various
types of information in cooperation with a selection module 94
shown in FIG. 12. The action decision mechanism section 91 is
supplied with information S14 consisting of the command signal S1,
the external information signal S2, the internal information signal
S3, the emotion/instinct state information S10 and the action
information S12, as shown in FIG. 8, and decides the next motion
(action) on the basis of this information S14.
[0169] The action decision mechanism section 91 holds a plurality
of action models such as "the first action model (action model 1)",
"the second action model (action model 2)", "the third action model
(action model 3)", "the fourth action model (action model 4)", . .
. , "the n-th action model (action model n, where n is an
integer)", as shown in FIG. 12. For example, the action models are
models for deciding the action in each scene such as "the case
where the remaining capacity of the battery is reduced", "the case
of recovering from falling", "the case of avoiding an obstacle",
and "the case where a ball is detected". That is, when certain
information is inputted, an action model (or a plurality of action
models) specified for the input information reacts to it and the
action model that has thus reacted decides the next action.
[0170] Then, the results of decision by the first to n-th action
models on the basis of the information S14 are outputted to
selection module 94.
[0171] As a technique for deciding the next action, the first to
n-th action models use an algorithm which is called a finite
probability automaton for deciding the transition that should be
made from one node (state) NODE0 to NODEn to another node NODE0 to
NODEn as shown in FIG. 13 in terms of the probability on the basis
of the transition probabilities P1 to Pn set for arcs ARC1 to ARCn
connecting the respective nodes NODE0 to NODEn.
[0172] Specifically, the first to n-th action models have a state
transition table 95 as shown in FIG. 14 for each of the nodes NODE0
to NODEn, corresponding to the node NODE0 to NODEn constituting the
action models themselves.
[0173] In the state transition table 95, input events (recognition
result) as the transition conditions in the nodes NODE0 to NODEn
are listed in a preferential order in the row of "name of input
event", and further conditions with respect to the transition
conditions are described in the columns corresponding to the rows
of "name of data" and "range of data".
[0174] In the node NODE100 shown in the state transition table 95
of FIG. 14, the conditions for transition to another node include
that when the recognition result (information S14) to the effect
that "a ball is detected (BALL)" is provided, the "size (SIZE)" of
the ball provided together with the recognition result or as the
recognition result is within the range of "0 to 1000", or that when
the recognition result to the effect that "an obstacle is detected
(OBSTACLE)" is provided, the "distance (DISTANCE)" to the obstacle
provided together with the recognition result is within the range
of "0 to 100".
[0175] In this node NODE100, the node as the destination of
transition is selected also with reference to whether the strength
of a desired unit exceeds a predetermined threshold value or not,
of the strengths of the emotion units 100A to 100F and the instinct
units 101A to 101D indicated by the emotion/instinct state
information S10 supplied as the recognition result (information
S14) from the emotion/instinct model section 90. Thus, even when
the same command signal S1 is inputted, transition to different
nodes is made depending on the strengths of the emotion units 100A
to 100F and the instinct units 101A to 101D.
[0176] In this node NODE100, even in the case where there is no
input of the recognition result (information S14), transition to
another node can be made when the parameter value of any of "joy
(JOY)", "surprise (SURPRISE)" and "sadness (SADNESS)" held by the
emotion models is within the range of "50 to 100", of the parameter
values of the emotions and instincts held by the emotion/instinct
model section 90.
[0177] In the state transition table 95, the names of nodes to
which transition from the node NODE0 to NODEn can be made are
listed in the column of "transition destination node" in the
section of "probability of transition to another node", and the
probabilities of transition to another node NODE0 to NODEn that can
be made when all the conditions described in the rows of "name of
input event", "name of data" and "range of data" are met are
described in the corresponding spaces within the section of
"probability of transition to another node". Also, the actions to
be outputted in transition to the nodes NODE0 to NODEn are
described in the row of "output action" in the section of
"probability of transition to another node". The sum of the
probabilities described in the respective rows in the section of
"probability of transition to another node" is 100 [%]. The
probability of transition may be changed. For example, the
probability of transition is changed by the learning function.
Thus, the pet-type robot 23 changes the probability of transition
in accordance with the result of learning and therefore obtains
individuality with respect to the decision of the action. For
example, the probability of transition, which is the characteristic
of the pet-type robot 23, is stored as the pet characteristic
information into the individual information storage section 1 (IC
card 21).
[0178] In the node NODE100 shown in the state transition table 95
of FIG. 14, for example, when the recognition result (information
S14) to the effect that "the ball is detected (BALL)" and that the
"size (SIZE)" of the ball is within the range of "0 to 100" is
provided, transition to "node NODE120 (node 120)" can be made with
the probability of "30%", and then the action of "ACTION1" is
outputted.
[0179] With such action models, for example, when it is detected on
the basis of the supplied external information S2 that the palm is
presented in front of the pet-type robot, and it is detected on the
basis of the emotion/instinct state information S10 that the
strength of the motion unit 100C of "anger" is not higher than a
predetermined threshold value, and it is detected on the basis of
the internal information signal S3 that "the pet-type robot is not
hungry", that is, the voltage of the battery is not lower than a
predetermined threshold value, the action for making the motion of
"giving the paw" is decided in response to the presentation of the
palm in front of the pet-type robot.
[0180] On the other hand, when it is detected that the palm is
presented in front of the pet-type robot, and that the strength of
the emotion unit 100C of "anger" is not higher than the
predetermined threshold value, and that "the pet-type robot is
hungry", that is, the voltage of the battery is less than the
predetermined threshold value, the action for making the motion of
"licking the palm" is decided.
[0181] Alternatively, when it is detected that the palm is
presented in front of the pet-type robot, and that the strength of
the emotion unit 100C of "anger" is equal to or higher than the
predetermined threshold value, the action of making the motion of
"turning away" is decided irrespective of whether "the pet-type
robot is not hungry", that is, whether the voltage of the battery
is not lower than the predetermined threshold value.
[0182] The first to n-th action models are constituted in such a
manner that a number of nodes NODE0 to NODEn described as the state
transition table 95 are connected. Thus, when the recognition
result (information S14) is provided, the next action is decided in
terms of the probability by using the state transition table of the
corresponding node NODE0 to NODEn, and the result of decision is
outputted to the selection module 94.
[0183] The selection module 94 selects the action outputted from
the action model of the predetermined high priority, of the actions
outputted from the first to n-th action models, and outputs the
information of the selected action as action command information
S16 to the posture transition mechanism section 92. For example,
the action models described on the lower side in FIG. 12 are of
higher priority.
[0184] The selection module 94 also outputs the result of selection
as the action information S12 to the emotion/instinct model section
90 and the action decision mechanism section 91. For example, the
selection module 94 raises a flag on the decided action and outputs
its information as the action information S12 and the action
command information S16 to the action decision mechanism section 91
and the posture transition mechanism section 92.
[0185] The action decision mechanism section 91 decides the action
on the basis of the action information S12 as well as the external
information (the command signal S1 and the external information
signal S2) S21 and the internal information (the internal
information signal S3 and the emotion/instinct state information
S10) S22, and thus can decide the next action in consideration of
the previous action.
[0186] The emotion/instinct model section 90 changes the state of
the emotion and the state of the instinct on the basis of the
action information S12 as well as the same information S1 to S3
(consisting of the command signal S1, the external information S2
and the internal information signal S3) as described above. Thus,
the emotion/instinct model section 90 can generate different
emotion/instinct state information S10 even when the same
information S1 to S3 is provided, as described above.
[0187] Since the contents of the information S1 to S3 vary in
accordance with the timing of being inputted to the
emotion/instinct model section 90 and the action decision mechanism
section 91, the information S1 to S3 is inputted to both the
emotion/instinct model section 90 and the action decision mechanism
section 91.
[0188] For example, when the external information signal S2 to the
effect that "the pet-type robot is patted on the head" is supplied,
the controller 82 causes the emotion/instinct model section 90 to
generate the emotion/instinct state information S10 indicating
"joy" and to supply this emotion/instinct state information S10 to
the action decision mechanism section 91. In this state, if the
external information signal S2 indicating that "the palm is in
front of the pet-type robot" is supplied, the action decision
mechanism 91 decides the action of "giving the paw with joy" on the
basis of the emotion/instinct state information S10 indicating
"joy" and the external information signal S2 to the effect that
"the palm is in front of the pet4ype robot".
[0189] By the above-described various types of means, the action
command information S16 is decided by the action decision mechanism
section 91 and the selection module 94, that is, the action is
decided as a concept. The decided action information command
information S16 is inputted to the posture transition mechanism
section 92.
[0190] The posture transition mechanism section 92 generates
information for shifting to the target posture or the target
motion.
[0191] As described above, the pet-type robot 23 causes the action
decision mechanism section 91 to decide the next action to be
taken. However, the current action and the next action are not
necessarily realized in the same posture or motion. That is, there
is considered a case where the current action is realized in a
"lying posture" and where the next action is realized in a
"standing posture". In such a case, the transition from the "lying
posture" to the "standing posture" must be made in order to carry
out the next action. The posture transition mechanism section 92 is
adapted for carrying out such transition of the posture or
motion.
[0192] Specifically, the posture transition mechanism section 92
generates the posture transition information S18 for shifting the
current posture or motion to the next posture or motion (the target
posture or the target motion, or the posture or motion for
realizing the next action) on the basis of the action command
information S16 supplied from the action decision mechanism section
91, and sends the posture transition information S18 to the control
mechanism section 93, as shown in FIG. 8. For example, the posture
to which transition can be made from the current posture is decided
in accordance with the physical shape of the pet-type robot 23 such
as the shapes of the trunk and limbs, the weight and the coupling
state of the respective parts, and the mechanism of the actuators
78A to 78N for the directions and angles of bending of the joints.
The posture transition information S18 is the information for
realizing transition in consideration of such shape and
mechanism.
[0193] On the basis of the posture transition information S18 thus
sent from the posture transition mechanism section 92, the control
mechanism section 93 actually operates the pet-type robot 23.
[0194] The posture transition mechanism section 92 has registered
therein in advance the posture to which transition can be made by
the pet-type robot 23 and the motion in making the transition, and
holds such information as a graph. The posture transition mechanism
section 92 sends the action command information S16, supplied from
the action decision mechanism section 91, to the control mechanism
section 83 as the posture transition information S18. The control
mechanism section 93 operates in accordance with the posture
transition information S18 so as to shift to the target posture or
the target motion. The processing at the posture transition
mechanism section 92 will now be described in detail.
[0195] For example, there is a case where the pet-type robot 23
cannot directly shift to the posture in accordance with the
contents of the command (action command information S16). The
postures of the pet-type robot 23 are classified into postures to
which direct transition can be made from the current posture, and
postures to which transition can be made not directly but via a
certain motion or posture.
[0196] The quadrupedal pet-type robot 23 can directly shift from
the sprawling state to the state of getting down, but cannot
directly shift to the standing posture and needs to make two stages
of motions, that is, drawing the limbs back toward the trunk so as
to take the lying posture and then standing up. There is also a
posture that cannot be taken safely. For example, the quadrupedal
pet-type robot 23 will fall down if it tries to raise the forelimbs
up in the standing posture. Alternatively, when a command having
the contents of "fluttering the limbs", which can be done only in
the sitting posture, is sent in the case where the current posture
is the sprawling posture (or lying posture), the transition from
the lying posture to the sitting posture and the motion of
fluttering the limbs are carried out and the pet-type robot 23 may
lose its balance and fall down.
[0197] Therefore, when the action command information S16 supplied
from the action decision mechanism section 91 indicates the posture
to which direct transition can be made, the posture transition
mechanism section 92 sends the action command information S16 as it
is, as the posture transition information S18 to the control
mechanism section 93. On the other hand, when the action command
information S16 indicates the posture to which direct transition
cannot be made, the posture transition mechanism section 92
generates the posture transition information S18 for shifting to
the target posture (posture instructed by the action command
information S16) via another posture or motion that can be taken,
and sends this posture transition information S18 to the control
mechanism section 93. Thus, the pet-type robot 23 can avoid any
impossible attempt to take a posture to which transition cannot be
made or any risk of falling down. Also, the preparation of a
plurality of motions to reach the target posture or motion leads to
the abundance of expressions.
[0198] The pet-type robot 23 is adapted for representing the action
of the electronic pet in the real world. Thus, it is essential to
consider the current posture or the like when making transition to
the target motion or posture, as described above. It is also
essential to consider the conflict of resources, which will be
described later. Meanwhile, such consideration is not required in
the virtual electronic pet device 22 adapted for representing the
action of the electronic pet in the virtual world (on the
screen).
[0199] Specifically, the posture transition mechanism section 92
holds a graph having registered therein the posture and motion that
can be taken by the pet-type robot 23 and constituted by the
posture and the motion for shifting the posture. The posture
transition mechanism section 92 then searches for a path from the
current posture to the target posture or the target motion on the
graph on the basis of the action command information S16 as the
command information, and causes the pet-type robot to move in
accordance with the search result, thus shifting from the current
posture to the target posture or the target motion. That is, the
posture transition mechanism section 92 registers in advance the
postures that can be taken by the pet-type robot 23, and also
records the connection between two postures which allow transition.
The posture transition mechanism section 92 thus makes transition
to the target posture or motion on the basis of the graph and the
action command information S16 outputted from the action decision
mechanism section 91.
[0200] Specifically, as the above-described graph, the posture
transition mechanism section 92 uses an algorithm called a directed
graph 96 as shown in FIG. 15. The directed graph 96 is constituted
by coupling a node indicating the posture that can be taken by the
pet-type robot 23, a directed arc (motion arc) for connecting two
postures (nodes) which allow transition, and depending on the case,
a motion arc for returning from one node to this one node, that is,
a self-motion arc indicating the motion completed within one node.
That is, the posture transition mechanism section 92 holds the
directed graph 96 constituted by the node as the information
indicating the posture (standstill posture) of the pet-type robot
23, and the directed arc and the self-motion arc as the information
indicating the motion of the pet-type robot 23. The posture
transition mechanism section 92 then regards the posture as point
information and regards the information of the motion (or action)
as directed line information.
[0201] In this case, there may be a plurality of directed arcs or
self-motion arcs. That is, a plurality of arcs may be provided
between the nodes (postures) which allow transition, and a
plurality of self-motion arcs may be coupled in one node.
[0202] When the action command information S16 is supplied from the
action decision mechanism section 91, the posture transition
mechanism section 92 searches for a path from the current node to
the next node along the direction of the directed arc so as to
connect the node corresponding to the current posture and the node
corresponding to the next posture to be taken indicated by the
action command information S16, and sequentially records the nodes
located on the path thus searched for, thereby making the plan of
posture transition. Hereinafter, the search for the target node
(node instructed by the command) or the target arc (arc instructed
by the command) from the current posture is referred to as path
search. In this case, the target arc may be a directed arc or may
be a self-motion arc. For example, in the case where a self-motion
arc is the target arc, a self-motion is the target (instructed),
that is, for example, a predetermined performance (motion) is
instructed.
[0203] On the basis of the posture transition plan to reach the
target posture (node) or the target motion (directed arc or
self-motion arc) obtained by path search, the posture transition
mechanism section 92 outputs a control command (posture transition
information S18) for transition to the control mechanism section 93
on the subsequent stage.
[0204] For example, as shown in FIG. 16, when the action command
information S16 representing "Sit" is supplied in the case where
the current posture is at the node DN2 indicating the posture of
"getting down", direct transition from the node ND2 indicating the
posture of "getting down" to the node ND5 indicating the posture of
"sitting" is possible since the directed arc a9 exists from the
node ND2 to the node ND5. Thus, the posture transition mechanism
section 92 provides the posture transition information S18 having
the contents of "Sit" to the control mechanism section 93.
[0205] On the other hand, when the action command information S16
representing "Walk" is supplied in the case where the current
posture is at the node ND2 indicating the posture of "getting
down", since direct transition from "getting down" to "walking" is
not possible, a posture transition plan is made by searching for a
path to reach the node ND4 indicating the posture of "walking" from
the node ND2 indicating the posture of "getting down". That is, a
posture transition plan is made such as to select the node ND3
indicating the posture of "standing" via the directed arc a2 from
the node ND2 indicating the posture of "getting down" and then to
reach the node ND4 indicating the posture of "walking" via the
directed arc a3 from the node ND3 indicating the posture of
"standing". As a result of such a posture transition plan, the
posture transition mechanism section 92 outputs the posture
transition information S18 having the contents of "Stand" and then
outputs the posture transition information S18 having the contents
of "Walk", to the control mechanism section 93.
[0206] The pet-type robot 23 is capable of separately operating the
individual constituent parts. That is, commands can be executed
with respect to each of the constituent parts. Such constituent
parts of the robot device 1 (whole body) may be generally the head
portion 61, the limb portions 63, and the tail portion 64, as shown
in FIG. 17.
[0207] In the pet-type robot 23 thus constituted, the tail portion
64 and the head portion 61 can be operated separately. That is,
these portions can be operated separately since there is no
conflict of resources. On the other hand, the whole body of the
pet-type robot 23 and the head portion 61 cannot be operated
separately. That is, the whole body and the head portion cannot be
operated separately since there is a conflict of resources. For
example, while a command for the motion of the whole body including
the motion of the head portion 61 is executed, a command for the
head portion 61 cannot be executed. It is possible for the pet-type
robot to wag the tail portion 64 while shaking the head portion 61,
but it is impossible to shake the head portion 61 while doing a
certain performance using the whole body. The occurrence of such a
conflict of resources is a problem proper to the pet-type robot 23,
which constitutes the electronic pet in the real world.
[0208] The following table shows exemplary combinations of parts
which cause and do not cause a conflict of resources with respect
to the action command information S16 sent from the action decision
mechanism section 91.
1 Combination of Parts Conflict of Resources Head, Tail No Head,
Whole Body Yes Limbs, Whole Body Yes Head, Limbs, Tail No
[0209] In the case where the commands which cause a conflict of
resources is thus supplied, either the command for the motion of
the whole body 23 or the command for the motion of the head portion
61 must be executed preferentially. The processing for dealing with
such commands will now be described.
[0210] In the case of preferentially executing one of the commands
because there is a conflict of resources, for example, in the case
of completing the motion of the whole body 23 and then executing
the command for the head portion 61, the motion of the head portion
61 is started in the last posture which is reached as a result of
the motion of the whole body 23. However, the last posture after
the motion of the whole body 23 is not necessarily a posture
suitable for starting a motion such as shaking the head portion 61.
If the motion of the head portion 61 is started when the last
posture after the motion of the whole body 23 is not a posture
suitable for starting the motion of the head portion 61, that is,
when the postures between which transition is made are
discontinuous due to the different commands, the head portion 61
may move abruptly, thus generating an unnatural motion. This
problem is caused in the case where the transition from the current
posture (or motion) to the target posture (or motion) extends over
the whole body and the individual constituent parts of the pet-type
robot 23 and where a network (graph) including the node and arc
constituted for controlling the whole body of the pet-type robot 23
and networks (graphs) including the node and arc constituted for
controlling the individual constituent parts of the pet-type robot
23 are separately constituted without having any relation with each
other.
[0211] The unnatural motion, generated by the pet-type robot 23 due
to the discontinuity of the postures between which transition is
made, is eliminated by making a posture transition plan so as to
smoothly connecting the transition motions on the graph.
Specifically, a basic posture shared on the graphs of the whole
body and the constituent parts is employed to make the posture
transition plan.
[0212] Information of a network used for the posture transition
plan of the pet-type robot 23 will be described hereinafter with
reference to the case where it is constituted by the information
(graph) of the network of the whole body and the information
(graphs) of the networks of the individual constituent parts, as
shown in FIG. 18A. For example, the information used for the
posture transition plan consisting of the information (graph) of
the network of the whole body and the information (graphs) of the
networks of the individual constituent parts is constituted within
the posture transition mechanism section 92, as shown in FIG.
12.
[0213] The basic posture is a posture to which transition is
temporarily made in order to shift the state between the motion of
the whole body and the motion of each constituent part. The basic
posture may be, for example, a sitting posture as shown in FIG.
18B. The procedure for smoothly connecting the transition motions
in the case where the sitting posture is employed as the basic
posture will now be described.
[0214] Specifically, it is the case where the current posture is
understood as the posture NDa0 on the graph of the whole body and
where a motion a2 of the head portion is to be executed as a target
motion, as shown in FIG. 19.
[0215] On the graph of the whole body, a directed arc a0 for
shifting the posture of the whole body of the pet-type robot 23
from the current posture NDa0 to a basic posture NDab is selected.
In the case where the whole body is in the basic posture, the state
(node) of the basic posture is also grasped on the graphs of the
head portion, the limb portions, and the tail portion.
[0216] On the graph of the head portion, an optimum directed arc al
from the state of a basic posture NDhb is selected, and a path to
reach the target motion (self-motion arc) a2 of the head portion 61
is decided.
[0217] In accordance with such procedure, the selection of the
transition path (posture transition plan) so as to smoothly
connects the motions of the whole body and each constituent part is
carried out on the graph of the whole body and the graph of the
head portion. Then, the posture transition mechanism section 92
outputs the posture transition information S18 to the control
mechanism section 93 on the basis of the posture transition
plan.
[0218] In the above-described example, the motions are smoothly
connected the motion of the whole body to the motion of each
constituent part. An example in which the motions are smoothly
connected from the motion of each constituent part to the motion of
the whole body will now be described. Specifically, it is the case
where the posture of the head portion 61 is grasped as a posture
NDh0 on the graph of the head portion while the posture of the limb
portion 63 is grasped as a posture NDf0 on the graph of the limb
portion and where a motion a4 of the whole body is to be executed
as a target motion, as shown in FIG. 20.
[0219] On the graph of the head portion, a directed arc a0 for
shifting the posture of the head portion 61 from the current
posture NDh0 to a basic posture NDAB is selected. On the graph of
the limb portion, directed arcs a1 and a2 for shifting the posture
of the limb portion 63 from the current posture NDf0 to a basic
posture NDfb via a posture NDf1 are selected. It is assumed that
the tail portion 64 is originally in its basic posture. In the case
where the respective constituent parts are thus in the basic
postures, the basic posture is also grasped on the graph of the
whole body.
[0220] On the graph of the whole body, an optimum directed arc a3
from the state of the basic posture NDhb is selected and a path to
reach the target motion (self-motion arc) a4 of the whole body is
decided.
[0221] For example, the motion of each constituent part may be
executed simultaneously with the motion of another constituent part
in the transition to the basic posture, and the motions of the
respective constituent parts may be executed with some limitations.
For example, certain timing for carrying out the motion may be
provided.
[0222] Specifically, if a command for the motion of the whole body
23 is given while the pet-type robot is doing a certain performance
with its head portion 61, transition of the head portion 61 to the
basic posture NDhb cannot be made since the pet-type robot is doing
a performance with the head portion 61. Therefore, the limb portion
63 is first set in the state of the basic posture NDfb and then the
head portion 61 on completion of the performance is shifted to the
state of the basic posture NDhb.
[0223] The individual constituent parts can also be moved in
consideration of the balance of the posture of the whole body 23.
For example, if the head portion 61 and the limb portion 63 are
simultaneously shifted, or if the head portion 61 is first shifted
to the state of the basic posture NDhb, the pet-type robot 23 loses
its balance and falls down. In such a case, the limb portion 63 is
first set to the state of the basic posture NDfb and then the head
portion 61 is shifted to the state of the basic posture NDhb.
[0224] By thus making the posture transition plan which allows
temporary transition to the basic posture, the motions can be
smoothly connected.
[0225] The posture transition mechanism section 92 searches for an
optimum path to the target posture or motion indicated by the
command so as to make the posture transition plan on the basis of
the action command information S16 sent from the action decision
mechanism section 91, and outputs the posture transition
information S18 to the control mechanism section 93 in accordance
with the posture transition plan, as described above.
[0226] Thus, the pet-type robot 23 can avoid any impossible attempt
to take a posture to which transition cannot be made or any risk of
falling down. Also, the preparation of a plurality of motions to
reach the target posture or motion leads to the abundance of
expressions.
[0227] The control mechanism section 93 generates a control signal
S5 for driving the actuators 78A to 78N on the basis of the posture
transition information S18, as shown in FIG. 8, and sends the
control signal S5 to the actuators 78A to 78N so as to drive the
actuators 78A to 78N, thus causing the pet-type robot 23 to make a
desired motion.
[0228] Specifically, in the case where the transition of the
posture or motion is necessary for taking the next action, the
control mechanism section 93 controls the actuators 78A to 78N on
the basis of the posture transition information S18 in accordance
with the posture transition plan sent from the posture transition
mechanism section 92, thus shifting the pet-type robot 23 to a
desired posture or motion. Then, the control mechanism section 93
controls the actuators 78A to 78N on the basis of the subsequently
supplied information of the action selected by the selection module
94, thus causing the pet-type robot 23 to carry out the selected
action, for example, a performance.
[0229] In the case where the transition of the posture or motion is
not necessary for taking the next action, the control mechanism
section 93 controls the actuators 78A to 78N on the basis of the
subsequently supplied information of the action selected by the
selection module 94, thus causing the pet-type robot 23 to carry
out the selected action (e.g., a performance), without carrying out
the transition of the posture or motion.
[0230] The specific structure of the pet-type robot 23 is described
above. Such a pet-type robot 23 can change the state of the emotion
and the state of the instinct using the emotion models and the
instinct models on the basis of the external information
(environment or external elements) or the internal information
(internal elements) and can act in accordance with the state of the
emotion and the state of the instinct.
[0231] Thus, since parameters corresponding to the emotion and
instinct of the electronic pet are contained in the pet-type robot
23, a short-tempered electronic pet or a crybaby electronic pet can
be realized. It is thus possible to cause the electronic pet to
take an action in consideration of such an emotion or action, and
to change the emotion in accordance with the action carried out by
the electronic pet itself. Specifically, when the electronic pet is
hungry and thus has the emotion of anger at a high level, it is
possible to cause the electronic pet to take an action like crying
or falling asleep and to sooth the increased emotion of anger in
accordance with that action. Thus, an electronic pet with more
reality is realized.
[0232] In the embodiment, the structure shown in FIGS. 7 and 8 is
employed as the specific structure of the pet-type robot 23.
However, it is a matter of course that the structure shown in FIGS.
7 and 8 can be applied to the virtual electronic pet device 22. For
example, in the case where the structure is applied to the virtual
electronic pet device 22, an equivalent technique is employed for
inappropriate portions, thus realizing the virtual electronic pet
device 22 as shown in FIGS. 7 and 8. For example, in the virtual
electronic pet device 22, since the motion section (actuators 78A
to 78N) is not required, it is changed to an output to the image
display section, thus realizing the virtual electronic pet device
22. In the virtual electronic pet device 22, the mechanism for
making the posture transition plan or for solving the conflict of
resources is not required, either.
[0233] Thus, in the virtual world (on the display image), an
electronic pet which changes the state of the emotion and the state
of the instinct on the basis of the external or internal
information and acts in accordance with the state of the emotion or
the state of the instinct can be realized similarly.
[0234] In the electronic pet system, as described above, an
electronic pet which stores the pet characteristic information in
the individual information storage section 1 (IC card 21) and has
the emotion or instinct based on the stored pet characteristic
information is realized.
[0235] For example, in the case where the virtual electronic pet
device 22 or the pet-type robot 23 is constituted as described
above, the pet-characteristic information stored in the individual
information storage section 1 (IC card 21) may be the emotion
parameters and the instinct parameters decided by the
above-described emotion models and the instinct models. In this
case, the emotion parameters and the instinct parameters are stored
in the individual information storage section 1, as shown in FIG.
21.
[0236] As the pet characteristic information, the transition
probability in deciding actions can also be stored in the
individual information storage section 1.
[0237] As described with reference to FIG. 13, using the finite
probability automaton, actions are decided in terms of the
probability on the basis of the transition probabilities P1 to Pn
which are set for respective arcs ARC1 to ARCn1 connecting the
respective nodes NODE0 to NODEn and indicating to which node NODE0
to NODEn the transition should be made from one node (state) NODE0
to NODEn, and these transition probabilities P1 to Pn can also be
stored in the individual information storage section 1. The
transition probabilities P1 to Pn can be changed in accordance with
the state of the emotion, the state of the instinct, or learning.
Therefore, the individuality of the electronic pet can be realized
by storing the transition probabilities.
[0238] The pet characteristic information stored in the individual
information storage section 1 is not limited to the above-described
example.
[0239] For example, the name of the electronic pet, the name of the
owner (the name of the keeper (user)), the time of growth, the
number of remaining metempsychoses, and the species may also be
employed. The time of growth is the elapsed time from the birth of
the electronic pet up to the present. The electronic pet (its soul)
comes back to life after death, and the number of remaining
metempsychoses is the information indicating the number of
remaining times for coming back to life. Specifically, it is the
number of times for reset. The species is the information
indicating the kind of the electronic pet such as dogs, cats, or
birds. The kind of the electronic pet need not necessarily be an
existent animal.
[0240] The pet characteristic information may also be learning
information. The learning information is the information related to
whether the electronic pet can do a predetermined performance or
not. That is, the electronic pet is enabled to learn several types
of performances and the learning information indicates whether the
electronic pet can do each type of performance.
[0241] In the present embodiment, since the internal information is
stored on the IC card 21 that can be inserted to and ejected from
the virtual electronic pet device 22 or the pet-type robot 23, the
electronic pet can be enjoyed in a form suitable for the user's
environment.
[0242] In the present embodiment, the IC card 21 is loaded in the
virtual electronic pet device 22 or the pet-type robot 23 so as to
cause the virtual electronic pet device 22 or the pet-type robot 23
to function as the electronic pet. However, the IC card 21 can also
be loaded into a typical computer or the like, and it is thus
possible to cause the computer to function as the electronic
pet.
[0243] In the present embodiment, the present invention is
described with respect to the electronic pet. However, the present
invention can also be applied to other living objects than the
electronic pet (e.g., plant object or the like).
[0244] Moreover, in the present embodiment, the pet characteristic
information is stored on the IC card. However, as the storage means
for storing the pet characteristic information, portable storage
means that can be inserted to and ejected from the device can be
employed, such as a memory card, an optical card, a magneto-optical
disc, and a magnetic disk.
[0245] In addition, in the present embodiment, the individual
information storage section 1 storing the pet characteristic
information can be inserted to and ejected from the body section 2.
However, it is also possible to provide a memory (built-in storage
medium or storage unit) that can be inserted to and ejected from
the body section 2 and to store the pet characteristic information
into that memory. In this case, the individual information storage
section 1 and the body section 2 transmits the pet characteristic
information by using various types of communication means, for
example, a communication cable, radio transmission, or infrared
rays.
[0246] In the virtual electronic pet device 22, the electronic pet
is a virtual existence displayed on the monitor and therefore its
appearance is easily changed. However, it is difficult for the
pet-type robot 23 to change its appearance. Therefore, in the
pet-type robot 23, the information related to the appearance, of
the pet characteristic information, is basically ignored. When the
species of the pet characteristic information indicates birds in
the case where the pet-type robot 23 is in the shape of a dog, it
is possible to cause the pet-type robot 23 to request a change of
parts for those of a bird (for example, by means of a synthetic
voice).
[0247] A specific example of the IC card that can be inserted and
ejected, used in the above-described first embodiment, is shown in
FIGS. 22 to 24. IC cards of various shapes are currently
standardized and the present invention is applicable to any of such
IC cards. In the present embodiment, a stick-shaped IC card is
employed, for example.
[0248] The stick-shaped IC card can be inserted and ejected, as
described above. When the user inserts the stick-shaped IC card
into the slot 23A of the pet-type robot 23 or the slot 22A of the
virtual electronic pet device 22, the user will be at a loss for
determining how deep the user can insert the IC card. That is, when
loading the IC card into the slot 23A of the pet-type robot 23 or
the slot 22A of the virtual electronic pet device 22, it is
convenient if the user can feel the loading by a loading sound (a
clicking sound or the like) or if the pet-type robot 23 or the
virtual electronic pet device 22 has an IC card lock/ejection
function. However, if the user cannot feel the loading or if the
lock/ejection function is provided, the user might break the IC
card by forcibly inserting the IC card into the slot, or cannot
carry out transmission/reception of data because of insufficient
insertion of the IC card.
[0249] Thus, in the present embodiment, color discrimination for
indicating a predetermined insertion position is carried out on an
IC card 131, as shown in FIG. 22. Specifically, as the color of a
portion 134 which should be out of the slot and the color of a
portion 133 which should be inserted and kept in the slot are made
different (color discrimination is made), the user can visually
recognize the state of the accurately loaded IC card when the IC
card 131 is inserted in the slot 23A of the pet-type robot 23 or
the slot 22A of the virtual electronic pet device 22. Although FIG.
22 shows an example in which color discrimination is made on a
label 132 attached to the body of the IC card 131, color
discrimination may also be made on the body of the IC card 131
itself. In the present invention, the colors of the portions 133
and 134 for color discrimination are not particularly limited, and
arbitrary colors can be used.
[0250] Although color discrimination is made on the IC card 131 in
the example of FIG. 22, it is also possible to provide an arrow
mark 135 as shown in FIG. 23, together with or in place of the
color discrimination on the IC card 131. FIG. 23 shows an example
in which the color of a portion 134 to be out of the slot and the
color of a portion 133 to be inserted and kept in the slot are made
different similarly to the example of FIG. 22 and in which the
arrow mark 135 is added to the portion 134 which should be out of
the slot. By thus providing the arrow mark 135, the user not only
can accurately load the IC card 131 into the slot but also can
easily recognize the loading direction of the IC card 131. Although
FIG. 23 shows the example in which color discrimination is made on
the label 132 attached to the body of the IC card 131 and in which
the arrow mark 135 is added to the label 132, the arrow mark 135
may also be provided on the body of the IC card 131 itself.
[0251] As a still another example, it is possible to provide a line
136 indicating the boundary position as shown in FIG. 24, together
with or in place of the color discrimination. FIG. 24 shows an
example in which the color of a portion 134 to be out of the slot
and the color of a portion 133 to be inserted and kept in the slot
are made different similarly to the example of FIG. 22 and in which
the line 136 is added at the boundary position between the portion
134 to be out of the slot and the portion 133 to be kept in the
slot. By thus providing the line 136, the user can accurately load
the IC card 131 into the slot. Although FIG. 24 shows the example
in which color discrimination is made on the label 132 attached to
the body of the IC card 131 and in which the line 136 is added to
the label 132, the line 136 may also be provided on the body of the
IC card 131 itself.
[0252] FIG. 25 shows the state where the IC card 131 as described
above is accurately loaded in the slot of the pet-type robot 23 or
the virtual electronic pet device 22.
[0253] FIG. 26 shows an example of the label 132 attached to the
body of the IC card 131. In the example of the label 132 shown in
FIG. 26, only color discrimination is made as in the example of
FIG. 22, and the color of the portion 134 to be out of the slot
when the IC card 131 is inserted in the slot and the color of the
portion 133 to be inserted and kept in the slot are
discriminated.
[0254] FIG. 27A shows a bottom view corresponding to the plan views
of the IC card 131 shown in FIGS. 22 to 24, and FIG. 27B shows
aside view thereof. On this IC card 131, a terminal portion 137
connected with a data transmission/reception terminal provided in
the slot 23A of the pet-type robot 23 or the slot 22A of the
virtual electronic pet device 22, and a write inhibit lock 138 for
inhibiting data writing are provided. The label 132 of FIG. 26 is
attached in such a manner that the portion 134 to be out of the
slot is turned up to cover the bottom side of the IC card 131.
[0255] A second embodiment of the present invention will now be
described.
[0256] In the first embodiment, storage of the individual
information storage section 1 (pet characteristic information of
the electronic pet) in a storage medium such as an IC card that can
be inserted and ejected is enabled, and insertion/ejection of the
IC card to/from-the slot 22A of the virtual electronic pet device
22 or the slot 23A of the pet-type robot 23 is enabled, thus
enabling transfer of the pet characteristic information between the
virtual electronic pet device 22 and the pet-type robot 23. In the
second embodiment, however, transfer of the pet characteristic
information is enabled by communication without using an IC
card.
[0257] FIG. 28 shows an example of connection according to the
second embodiment.
[0258] A virtual electronic pet device 202 shown in FIG. 28 is
basically the same as the above-described virtual electronic pet
device 22, and a pet-type robot 204 shown in FIG. 28 is basically
the same as the above-described pet-type robot 23. In the second
embodiment, however, both the virtual electronic pet device 202 and
the pet-type robot 204 have a communication processing section
which enables replacement of the pet characteristic information of
the above-described individual information storage section 1 by
communication. The pet characteristic information communicated via
the communication processing section can be stored onto an IC card
as described above and can also be stored into data storage
sections 203 and 205 which are internally provided. (In FIG. 28, it
is shown that they are outside of the virtual electronic pet device
202 and the pet-type robot 204, respectively, but they are actually
provided therein.) In the second embodiment, the pet characteristic
information is stored into the internally provided data storage
sections.
[0259] In the example of connection shown in FIG. 28, the virtual
electronic pet device 202 and the pet-type robot 204 are connected
to a personal computer 201, and the personal computer 201 is
connected a network such as the Internet 200. Meanwhile, it is also
possible to directly connect the virtual electronic pet device 202
to the pet-type robot 204 without using the personal computer 201,
or to directly connect them to the Internet 200 without using the
personal computer 201. Moreover, in the second embodiment, it is
possible to connect the virtual electronic pet devices 202 to each
other or the pet-type robots 204 to each other.
[0260] The electronic pet can be expressed not only by the virtual
electronic pet device 202 or the pet-type robot 204 but also on the
personal computer 201. In this case, by installing an application
program for realizing the above-described electronic pet on the
personal computer 201 and starting the application program for the
electronic pet, it becomes possible to keep the electronic pet on
the personal computer 201. Therefore, also the pet characteristic
information of the electronic pet is stored into the personal
computer 201.
[0261] In the second embodiment, as the connection form in the case
of transmitting and receiving the pet characteristic information
between the virtual electronic pet device 202 and the pet-type
robot 204, various forms of connection can be considered such as
connection via a cable, connection via radio transmission, and
connection by infrared rays. The present invention is applicable to
any connection form including such connection via a cable, radio
transmission, and infrared rays.
[0262] FIG. 29 shows the structure of a main portion (communication
processing section) of the pet-type robot 204, which enables
transfer of the pet characteristic information by communication, as
described above. The pet-type robot 204 has the structure as shown
in FIGS. 3, 5 and 7, but only the p6rtion (communication processing
section) necessary for communication of the pet characteristic
information is shown in FIG. 29. In the example of FIG. 29,
connection by infrared rays (IrDa), serial cable connection, and
radio connection are employed as exemplary connection forms.
[0263] In FIG. 29, a RAM 211 corresponds to the RAM 33 of FIG. 5,
and a processing unit 212 corresponds to the CPU 31 of FIG. 5.
[0264] The communication processing section 210 of the pet-type
robot 204 shown in FIG. 29 has an infrared (IrDa)
transmission/reception section 217, a serial port section 218, and
a radio transmission/reception section 219, as communication means
connected to the outside (e.g., the virtual electronic pet device,
the personal computer, or the Internet) for transmitting and
receiving the pet characteristic information. These communication
means are connected to a communication control section 215.
[0265] The communication control section 215 is controlled by the
processing unit 212 corresponding to the CPU 31 of FIG. 5, and
operates in accordance with a communication clock from a clock
generation section 216, thus transmitting and receiving data in
accordance with a communication protocol corresponding to the
connection form of the communication means.
[0266] The data to be transmitted is read out from the RAM 211
under the control of the processing unit 212, then temporarily
stored in a transmitted data storage section 213 as a transmission
buffer, and then transmitted from the communication means via the
communication control section 215. The data received by the
communication means is temporarily stored in a received data
storage section 214 as a reception buffer via the communication
control section 215 and then sent to the RAM 211.
[0267] FIG. 30 shows the specific appearance of a virtual
electronic pet device used in the embodiment of the present
invention.
[0268] A virtual electronic pet device 220 shown in FIG. 30 has a
monitor 222 for displaying the electronic pet, a speaker 223 for
outputting a voice, a microphone 224 for picking up a voice,
operation buttons 226 for the user to input various operations to
the device 220, LEDs (light-emitting diodes) 225 which are lit in
accordance with the operated buttons, and a talk switch 221 for
instructing analysis of the voice picked up from the microphone 224
as described above.
[0269] The virtual electronic pet device 220 as shown in FIG. 30
has an internal hardware structure as shown in FIG. 31. The
structure shown in FIG. 31 has basically the same function as the
structure of FIG. 4, but a communication interface 112 is provided
as the structure to enable communication of the pet characteristic
information as in the second embodiment.
[0270] In FIG. 31, a processing unit 113 is adapted for carrying
out various types of processing in accordance with programs stored
in a ROM 116. The ROM 116 stores programs to be executed by the
processing unit 113 and data necessary for executing the programs.
A RAM 115 stores data necessary for the operation of the processing
unit 113.
[0271] The communication interface 112functions as an interface
corresponding to the communication means and the communication
control section 215 shown in FIG. 29.
[0272] The microphone 224 converts a voice inputted thereto to an
audio signal as an analog electric signal and supplies the audio
signal to an A/D converter 101. The A/ID converter 101 performs A/D
conversion on the analog audio signal from the microphone 224 and
outputs a digital audio signal to a voice recognition device
104.
[0273] The voice recognition device 104 carries out linear
prediction analysis of the audio signal inputted thereto so as to
extract the characteristic quantity, and carries out voice
recognition based on, for example, the HMM method. A program
executed by the voice recognition device 104 for carrying out voice
recognition and word models as the objects of voice recognition are
stored, for example, in a ROM 103. In the ROM 103, particularly the
word models used for the keeper to talk to the pet are stored as
the word models to be the objects of voice recognition. The method
of acoustic analysis is not limited to the linear prediction
analysis, and the method of voice recognition is not limited to the
HMM method. A RAM 102 stores data necessary for the operation of
the voice recognition device 104.
[0274] A key section corresponds to the operation buttons 226 and
the talk switch 221 shown in FIG. 30. A signal outputted from the
key section 221, 226 as the user operates the key section is
inputted to the processing unit 113. Thus, the processing unit 113
recognizes the buttons and keys operated by the user. For example,
when the operation buttons 226 in the key section are operated,
various types of inputs are provided to the electronic pet in
response to the operations. When the talk switch 221 in the key
section is pressed, the processing unit 113 causes the voice
recognition device 104 to start voice recognition of the voice
inputted from the microphone 224.
[0275] A sensor 227 is a sensor for detecting the state of the
external environment such as the sound, light, and temperature. A
detection signal from this sensor 227 is converted to a digital
signal by an A/D converter 105 and then sent to the processing unit
113. The processing unit 113 controls the reaction of the
electronic pet on the basis of the detection data obtained from the
sensor 227.
[0276] A voice synthesizer 114 synthesizes a voice to be outputted
by the electronic pet under the control of the processing unit 113.
A program for the voice synthesizer 114 to carry out voice
synthesis and data as the basis for voice synthesis are stored, for
example, in a ROM 107. In the ROM 107, data for synthesizing
various types pf voices to be outputted by the electronic pet are
stored. A ROM 106 stores data necessary for the operation of the
voice synthesizer 114.
[0277] A D/A converter 108 performs D/A conversion on the audio
data synthesized by the voice synthesizer 114 so as to generate an
analog audio signal, and supplies the analog audio signal to the
speaker 223. The speaker 223 includes an amplifier so as to amplify
the audio signal from the D/A converter 108 and then output the
amplified audio signal.
[0278] A liquid crystal display (LCD) section 222 includes a liquid
crystal controller which is controlled by the processing unit 113
and displays various images (e.g., images of the electronic pet)
and characters.
[0279] FIG. 32shows the essential internal structures of the
virtual electronic pet device 220 and the pet-type robot 204 in the
case where the virtual electronic pet device 220 and the pet-type
robot 204 are connected with each other via a USB (universal serial
bus) cable as an exemplary serial data cable so as to transfer the
pet characteristic information.
[0280] In FIG. 32, a CPU 231 of the virtual electronic pet device
220 corresponds to the processing unit 113 of FIG. 31, a RAM 236
corresponds to the RAM 115 of FIG. 31, and a ROM 235 corresponds to
the ROM 116 of FIG. 31. An image controller 234 corresponds to the
liquid crystal controller included in the liquid crystal display
section 222 of FIG. 31. A data storage section 233 stores the pet
characteristic information. The pet characteristic information is
transmitted to and received from the pet-type robot 204 via the USB
cable connected to a USB port 232.
[0281] A CPU 241 of the pet-type robot 204 corresponds to the
processing unit 212 of FIG. 29, a RAM 146 corresponds to the RAM
211 of FIG. 29, and a ROM 245 corresponds to the ROM 32 of FIG. 29.
A mechanical controller 244 controls the driving mechanism 52 of
FIG. 5 under the control of the CPU 241. A data storage section 243
stores the pet characteristic information. The pet characteristic
information is transmitted to and received from the virtual
electronic pet device 220 via the USB cable connected to a USB port
242.
[0282] FIG. 33 shows the essential internal structures of the
virtual electronic pet device 220 and the pet-type robot 204 in the
case where the virtual electronic pet device 220 and the pet-type
robot 204 are connected with each other by infrared rays via an
infrared (IrDA) transmission/reception section so as to transfer
the pet characteristic information. In FIG. 33, portions similar to
those of FIG. 32 are denoted by the same numerals and will not be
described further in detail.
[0283] In the example of FIG. 33, an infrared
transmission/reception section 237 of the virtual electronic pet
device 220 is provided in the communication interface 112 of FIG.
31. The pet characteristic information is transmitted and received
between the infrared transmission/reception section 237 and an
infrared transmission/reception section 247 of the pet-type robot
204.
[0284] The infrared transmission/reception section 247 of the
pet-type robot 204 corresponds to the infrared
transmission/reception section 217 shown in FIG. 29. The pet
characteristic information is transmitted and received between the
infrared transmission/reception section 247 and the virtual
electronic pet device 220.
[0285] FIG. 34 shows the essential internal structures of the
virtual electronic pet device 220 and the pet-type robot 204 in the
case where the virtual electronic pet device 220 and the pet-type
robot 204 are connected with each other by radio waves via a radio
transmission/reception section so as to transfer the pet
characteristic information. In FIG. 34, portions similar to those
of FIG. 32 are denoted by the same numerals and will not be
described further in detail.
[0286] In the example of FIG. 34, a radio transmission/reception
section 238 of the virtual electronic pet device 220 is provided in
the communication interface 112 of FIG. 31. The pet characteristic
information is transmitted and received between the radio
transmission/reception section 238 and a radio
transmission/reception section 248 of the pet-type robot 204.
[0287] The radio transmission/reception section 248 of the pet-type
robot 204 corresponds to the radio transmission/reception section
219 shown in FIG. 29. The pet characteristic information is
transmitted and received between the radio transmission/reception
section 248 and the radio transmission/reception section 238 of the
virtual electronic pet device 220.
[0288] Specifically, as the radio transmission/reception section
248 of the pet-type robot 204 and the radio transmission/reception
section 238 of the virtual electronic pet device 220, Bluetooth
modules 248 and 238 can be used, respectively, as shown in FIG.
35.
[0289] The Bluetooth is a radio interface using ISM (industrial
Scientific Medical) band of 2.4 GHz which does not require
permission as the carrier frequency. The Bluetooth modules 248 and
238 employ this Bluetooth radio interface. The schematic structure
of the Bluetooth will be described as follows.
[0290] The Bluetooth uses a spread spectrum technique in accordance
with a frequency hopping system. It uses 79 channels each having a
width of 1 MHZ and capable of switching the channel 1600 times per
second at the maximum. Thus, interference with other radio
communications is prevented. Carrier sense is not carried out since
hopping is switched to high-speed hopping.
[0291] The maximum data transmission speed is 1 Mbits/sec. The
multiplexing method for packets can deal with both TDD (time
division duplex) circuit switching and packet switching. While
asynchronous transmission is carried out, a maximum of three audio
channels each having 64 kbits/sec can be secured
simultaneously.
[0292] The Bluetooth-compatible equipments are classified into a
"master" for deciding the frequency hopping pattern and a maximum
of seven "slaves" accompanying the master. A sub-net constituted by
the master and several slaves is called "pico-net". Since the
master can be a slave of the pico-net, it is possible to form a
network by sequentially connecting pico-nets. For example, such a
network structure is called stacker net. In the pico-net or the
stacker net, communications and the state of equipments are managed
using an 8-bit MAC address.
[0293] The Bluetooth equipment deals with several modes of
different dissipation powers, depending on the state of
participation in the communication. By fragmenting the mode in the
specification, the dissipation power is reduced.
[0294] The link between the master and the slaves is set by the
Bluetooth as follows. First, the master transmits "Inquiry", which
is a message including a key for connection or the like, at an
interval of 625 .mu.s. On the slave side, since the channel is
constantly switched in accordance with the hopping pattern,
synchronization is made approximately in two seconds. Thus, the
master recognizes the slave, and the slave obtains 3-bit "Active
member address" and enters the pico-net. "Active member address" is
address information of 3 bits allocated to the equipment which
communicates with the master. As this "Active member address" is
allocated, the pico-net is formed.
[0295] After that, the master sends a "Page" message to the slave.
The slave the operates in the hopping pattern decided by the
master.
[0296] After that, authentication is carried out. An encryption key
used for authentication is produced by the exclusive OR of a random
number generated by the master and the MAC address of the slave. On
completion of the authentication, a dedicated key is provided to
simplify the subsequent processing. Then, transmission and
reception of data is started.
[0297] The foregoing is the schematic structure of the Bluetooth.
The pet-type robot 204 and the virtual electronic pet device 220
can have the Bluetooth modules 248 and 238 employing such Bluetooth
radio interfaces, respectively, as the radio transmission/reception
sections.
[0298] FIG. 36 shows the essential internal structures of the
personal computer 201 and the pet-type robot 204 in the case where
the personal computer 201 and the pet-type robot 204 are connected
with each other by a USB cable as an exemplary serial data cable so
as to enable transmission and reception of the pet characteristic
information via the personal computer 201 and the Internet 200. In
FIG. 36, portions similar to those of FIG. 32 are denoted by the
same numerals and will not be described further in detail.
[0299] In the example of FIG. 36, a CPU 251 of the personal
computer 201 corresponds to a processor unit, and a ROM 255, a RAM
256, and a USB port 252 are generally provided in the personal
computer. A data storage section 253 corresponds to a hard disk,
for example. This personal computer 201 transfers to the Internet
200 the pet characteristic information transmitted from the
pet-type robot 204 via the USB cable, and transfers the pet
characteristic information received from the Internet 200 to the
pet-type robot 204 via the USB cable.
[0300] FIG. 37 shows the essential internal structures of the
personal computer 201 and the pet-type robot 204 in the case where
the personal computer 201 and the pet-type robot 204 are connected
with each other by infrared rays so as to enable transmission and
reception of the pet characteristic information via the personal
computer 201 and the Internet 200. In FIG. 37, portions similar to
those of FIGS. 36 and 33 are denoted by the same numerals and will
not be described further in detail.
[0301] In the example of FIG. 37, the personal computer 201 has an
infrared transmission/reception port 257, thus transferring to the
Internet 200 the pet characteristic information transmitted from
the pet-type robot 204 by using infrared rays and also transferring
the pet characteristic information received via the Internet 200 to
the pet-type robot 204 by using infrared rays.
[0302] FIG. 38 shows the essential internal structures of the
personal computer 201 and the pet-type robot 204 in the case where
the personal computer 201 and the pet-type robot 204 are connected
with each other by radio waves so as to enable transmission and
reception of the pet characteristic information via the personal
computer 201 and the Internet 200. In FIG. 38, portions similar to
those of FIGS. 36 and 34 are denoted by the same numerals and will
not be described further in detail.
[0303] In the example of FIG. 38, the personal computer 201 has a
radio transmission/reception section 258, thus transferring to the
Internet 200 the pet characteristic information transmitted from
the pet-type robot 204 by using radio waves and also transferring
the pet characteristic information received via the Internet 200 to
the pet-type robot 204 by using radio waves. Specifically, as the
radio transmission/reception section 248 of the pet-type robot 204
and the radio transmission/reception section 238 of the virtual
electronic pet device 220, Bluetooth modules 248 and 238 can be
used, respectively, as shown in FIG. 39. The modules 248 and 238
employ Bluetooth radio interfaces, as described above.
[0304] FIG. 40 shows the flow of transmission/reception processing
in the case where the virtual electronic pet device and the
pet-type robot are connected with each other via a serial data
cable, infrared rays, or radio waves, thus transferring the pet
characteristic information. The example of FIG. 40 shows the flow
in the case of transferring the pet characteristic information from
the virtual electronic pet device to the pet-type robot.
[0305] In FIG. 40, a connection request is issued, for example,
from the pet-type robot. Specifically, the pet-type robot first
transmits a connection request signal to the virtual electronic pet
device (expressed as a portable electronic pet in FIG. 40), as
indicated by TR1 in FIG. 40. In this case, the connection request
is issued from the pet-type robot for the following reason. That
is, if the connection request can be issued both from the pet-type
robot and the virtual electronic pet device, a switch for
determining which side should issue the connection request must be
provided both in the pet-type robot and in the virtual electronic
pet device, and particularly, providing such a switch in the
pet-type robot is not desired in view of the design (i.e., it is
desired that various switches are provided in a robot as a pet).
However, the present invention is not limited to this example. The
connection request can also be issued from the side of the virtual
electronic pet device, and can be issued either from the pet-type
robot or from the virtual electronic pet device.
[0306] Therefore, in the present embodiment, since it is decided to
issue the connection request from the pet-type robot, the switch is
not required.
[0307] In this case, the connection request signal transmitted from
the pet-type, robot includes an ownership flag (Own_flg), which is
a flag indicating which of the pet-type robot and the virtual
electronic pet device has the right of ownership of the pet
characteristic information (that is, a flag indicating which of the
pet-type robot and the virtual electronic pet device the soul
resides in). In the present embodiment, the right of ownership of
the pet characteristic information is not provided when the value
of the ownership flag is 0 (Own_flg=0), and the right of ownership
of the pet characteristic information is provided when the value of
the ownership flag is 1 (Own_flg=1). In the example of FIG. 40, as
an initial state, the value of the ownership flag of the pet-type
robot is 0 (Own_flg=0) and the value of the ownership flag of the
virtual electronic pet device is 1 (Own_flg=1).
[0308] On receiving the connection request signal, the virtual
electronic pet device compares its own ownership flag (Own_flg=1)
with the ownership flag (Own_flg=0) included in the received
connection request signal. When the value of the ownership flag of
the received connection request signal and the value of its own
ownership flag are different, the virtual electronic pet device
transmits a connection permission signal to the pet-type robot, as
indicated by TR2 in FIG. 40.
[0309] On receiving the connection permission signal, the pet-type
robot compares its own ownership flag (Own_flg=0) with the
ownership flag (Own_flg=1) included in the received connection
permission signal. When the value of the ownership flag of the
received connection permission signal and the value of its own
ownership flag are different, the pet-type robot transmits a data
request signal to the virtual electronic pet device, as indicated
by TR3 in FIG. 40.
[0310] On receiving the data request signal, the virtual electronic
pet device transmits the pet characteristic information stored
therein to the pet-type robot, as indicated by TR4 in FIG. 40.
[0311] On receiving all the necessary pet characteristic
information, the pet-type robot transmits a reception completion
signal to the virtual electronic pet device, as indicated by TR5 in
FIG. 40, and changes the value of its own ownership flag to 1
(Own_flg=1).
[0312] On receiving the reception completion signal from the
pet-type robot, the virtual electronic pet device changes the value
of its own ownership flag to 0 (Own_flg=0). In the above-described
manner, the flow in the case of transferring the pet characteristic
information from the virtual electronic pet device to the pet-type
robot is completed. Thus, it is considered that the individual
information storage section has been shifted to the pet-type
robot.
[0313] FIG. 41 shows the flow in the case of transferring the pet
characteristic information from the pet-type robot to the virtual
electronic pet device. In the example of FIG. 41, as an initial
state, the value of the ownership flag of the pet-type robot is 1
(Own_flg=1) and the value of the ownership flag of the virtual
electronic pet device is 0 (Own_flg=0).
[0314] In FIG. 41, first, the pet-type robot transmits a connection
request signal including the ownership flag to the virtual
electronic pet device (expressed as a portable electronic pet in
FIG. 41), as indicated by TR11 in FIG. 41. The value of the
ownership flag in this case is 1 (Own_flg=1).
[0315] On receiving the connection request signal, the virtual
electronic pet device compares its own ownership flag (Own_flg=0)
with the ownership flag (Own_flg=1) included in the received
connection request signal. When the value of the ownership flag of
the received connection request signal and the value of its own
ownership flag are different, the virtual electronic pet device
transmits a connection permission signal to the pet-type robot, as
indicated by TR12 in FIG. 41.
[0316] On receiving the connection permission signal, the pet-type
robot compares its own ownership flag (Own_flg=1) with the
ownership flag (Own_flg=0) included in the received connection
permission signal. When the value of the ownership flag of the
received connection permission signal and the value of its own
ownership flag are different, the pet-type robot transmits the pet
characteristic information stored therein to the-virtual electronic
pet device, as indicated by TR13 in FIG. 41.
[0317] On receiving all the necessary pet characteristic
information, the virtual electronic pet device transmits a
reception completion signal to the virtual electronic pet device,
as indicated by TR14 in FIG. 41, and changes the value of its own
ownership flag to 1 (Own_flg=1).
[0318] On receiving the reception completion signal from the
virtual electronic pet device, the pet-type robot changes the value
of its own ownership flag to 0 (Own_flg=0). In the above-described
manner, the flow in the case of transferring the pet characteristic
information from the pet-type robot to the virtual electronic pet
device is completed. Thus, it is considered that the individual
information storage section has been shifted to the virtual
electronic pet device.
[0319] FIG. 42 shows the flow of communication in the case where
the value of the ownership flag of the pet-type robot and the value
of the ownership flag of the virtual electronic pet device are the
same. In the example of FIG. 42, as an initial state, the value of
the ownership flag of the pet-type robot is 0 (Own_flg=0) and the
value of the ownership flag of the virtual electronic pet device is
also 0 (Own_flg=0). As the value of the ownership flag of the
pet-type robot and the value of the ownership flag of the virtual
electronic pet device are the same, it is indicated that the
pet-type robot and the virtual electronic pet device originally
deal with different electronic pets and that transmission/reception
of the pet characteristic information cannot be carried out.
[0320] In FIG. 42, first, the pet-type robot transmits a connection
request signal including the ownership flag to the virtual
electronic pet device (expressed as a portable electronic pet in
FIG. 42), as indicated by TR21 in FIG. 42. The value of the
ownership flag in this case is 0 (Own_flg=0).
[0321] On receiving the connection request signal, the virtual
electronic pet device compares its own ownership flag (Own_flg=0)
with the ownership flag (Own_flg=0) included in the received
connection request signal.
[0322] In this case, since the value of the ownership flag of the
received connection request signal and the value of its own
ownership flag are the same, the virtual electronic pet device
transmits a reception completion signal to the pet-type robot, as
indicated by TR22 in FIG. 42. On receiving the reception completion
signal, the pet-type robot ends the processing.
[0323] FIG. 43 shows an exemplary data format of the
above-described connection request signal, the connection
permission signal, and the reception completion signal.
[0324] The connection request signal consists of the connection
request ID, the number of communication bytes, which the number of
bytes used at the time of connection, and the ownership flag
(Own_flg) with its additional data, each of the connection request
ID, the number of communication bytes and the ownership flag being
represented by 4 bytes.
[0325] The connection permission signal consists of the connection
permission ID, the number of communication bytes, and the ownership
flag (Own_flg) with its additional data, each being represented by
4 bytes.
[0326] The reception completion signal consists of the reception
completion ID, the number of communication bytes, and the ownership
flag (Own_flg) with its additional data, each being represented by
4 bytes.
[0327] In the above-described embodiment, it is possible to
transmit and receive the pet characteristic information of the
electronic pet, directly or via the Internet. In the present
invention, it is also possible to manage various types of
information related to the electronic pet by a predetermined server
260 via the Internet 200. Hereinafter, this server is referred to
as a pet shared server.
[0328] FIG. 44 shows the conceptual structure of a network system
in which the pet characteristic information of the virtual
electronic pet device 202, the personal computer 201, and the
pet-type robots 204, 204 is managed by a pet shared server 260 via
the Internet 200.
[0329] In the case of this network system, the pet shared server
260 is provided with a data storage section 261 which has a pet
characteristic information storage section 262 for storing the pet
characteristic information and a management information (shared
server pet management information) storage section 263 for
electronic pets managed by the pet shared server 260.
[0330] FIG. 45 shows the essential internal structures of the
virtual electronic pet device 220 and the pet-type robot 204 in the
case where the pet shared server 260, the virtual electronic pet
device 220 and the pet-type robot 204 are connected via the
Internet 200. In FIG. 45, portions similar to those of the
foregoing drawings are denoted by the same numerals and will not be
described further in detail.
[0331] In the example of FIG. 45, since the virtual electronic pet
device 220 and the pet-type robot 204 can be connected directly to
the Internet 200, the virtual electronic pet device 220 and the
pet-type robot 204 include modems 239 and 249, respectively.
Through the modems 239 and 249, it is possible to connect to the
pet shared server 260 via the Internet 200 and to manage various
types of data including the pet characteristic information by the
pet shared server 260.
[0332] As it is made possible to manage the pet characteristic
information of the electronic pet by the pet shared server 260 via
the Internet 200 as shown in FIGS. 44 and 45, it is possible to
cause the pet shared server 260 to manage the pet characteristic
information of the electronic pet, for example, in the case where
the owner is away from home for a business trip, that is, to leave
the electronic pet to the pet shared server, and at the destination
of the business trip, retrieve and play with the pet characteristic
information from the server, as shown in FIG. 46.
[0333] Specifically, in the example of FIG. 46, at home before
making a business trip, the pet-type robot is first connected to
the Internet so as to access the pet shared server, as described in
A of FIG. 46. At this point, the value of the ownership flag of the
pet-type robot is 1 (Own_flg=1). When the value of the ownership
flag is 1, the pet-type robot automatically selects "leaving" for
leaving the pet characteristic information to the server. Thus, the
pet characteristic information is uploaded from the pet-type robot
to the server. Since the individual electronic pets left to the pet
shared server must be distinguished, the specific ID and password
stored in the ROM of the pet-type robot are simultaneously
transferred to the server in the uploading.
[0334] Next, at the destination of the business trip, for example,
a portable terminal (a portable virtual electronic pet device or
personal computer) is connected to the Internet so as to access the
pet shared server, as described in B of FIG. 46. At this point, a
plurality of menu items are displayed in the image display section
of the portable terminal (the image display section of the portable
virtual electronic pet device or the monitor of the personal
computer). The menu items include "leaving", "receiving" and so on.
In this case, "receiving" is selected. For receiving the electronic
pet which the user left, the user enters the ID and password to
prevent reception of a wrong electronic pet. After that, the pet
characteristic information of the electronic pet left to the pet
shared server is downloaded to the portable terminal. Thus, the
user can keep the electronic pet on the portable terminal or play
with the electronic pet even at the destination of the business
trip.
[0335] When returning from the destination of the business trip,
for example, the portable terminal is connected to the Internet so
as to access the pet shared server, as described in C of FIG. 46.
Thus, a plurality of menu items are displayed in the image display
section of the portable terminal. As the user selects "leaving" of
the menu items and enters the ID and password, the pet
characteristic information is uploaded from the portable terminal
to the server.
[0336] After returning home from the business trip, the pet-type
robot is connected to the Internet so as access the pet shared
server, as described in D of FIG. 46. At this point, the value of
the ownership flag of the pet-type robot is 0 (Own_flg=0). When the
value of the ownership flag is 0, the pet-type robot automatically
selects "receiving" for receiving the pet characteristic
information from the server. Thus, the pet characteristic
information is downloaded from the server to the pet-type
robot.
[0337] In the above-described second embodiment, the electronic pet
is kept as the electronic pet on the virtual electronic pet device,
the pet-type robot, and the personal computer. However, as a third
embodiment of the present invention, it is also possible that the
pet-type robot plays as an electronic pet 263 in a virtual world
261 on the personal computer and that the user himself/herself
enters the virtual world 261 as an avatar 262 and plays with
his/her own electronic pet, as shown in FIG. 47. The avatar is the
incarnation of the god appearing in the Indian mythology. In the
virtual world drawn as two-dimensional or three-dimensional
computer graphics, this avatar serves as a character representing
the user.
[0338] In the present embodiment, it is also possible to let the
avatar 262 of the user and his/her electronic pet 263 enter a
virtual world 260 which is constructed on the network and in which
another avatar 264 and his/her electronic pet 265 exist, and to let
them communicate with each other.
[0339] In the example shown in FIG. 45, the virtual electronic pet
device 220 and the pet-type robot 204 can be connected to the
Internet 200 via the modems 239 and 249. However, the means for
connection to the Internet is not limited to these modems. For
example, connection can be made by Bluetooth modules, which are
radio means. In such a case, the pet-type robot 204 and the virtual
electronic pet device 220 have Bluetooth modules 249a and 239a,
respectively, as radio transmission/reception sections, as shown in
FIG. 48. Accordingly, Bluetooth modules 249b and 239b are connected
to the Internet (e.g., public telephone network) and data
transmission/reception is carried out with the Bluetooth module
249a of the pet-type robot 204 and the Bluetooth module 239a the
virtual electronic pet device 220. In this case, the Bluetooth
modules 239a, 249a, 239b and 249b employ Bluetooth radio
interfaces, as described above.
[0340] Hereinafter, the structure and operation will be described
which are adapted for realizing the keeping of the electronic pet
in a three-dimensional virtual space as in the third embodiment by
using the WWW (world wide web) framework for providing various
types of information via the Internet, which is a computer network
constructed on the global scale, and by using VRML (virtual reality
modeling language), which is a description language enabling
unified handling of three-dimensional information.
[0341] First, prior to the description of the third embodiment of
the present invention, VRML will be briefly explained.
[0342] VRML is a three-dimensional graphics description language
which enables setting of links of hyper texts with respect to an
object drawn by description in the three-dimensional space or
three-dimensional graphics and which enables sequential access to
the WWW server while tracing these links. To display the
three-dimensional space described in this VRML, VRML browser has
been developed. The details of VRML are described, for example, in
Mark Pesce, "VRML: Browsing & Building of Cyberspace", 1995,
New Readers Publishing, ISBN 1-56205498-8 (and its Japanese
version, translated by Koichi Matsuda, Terutaka Kamachi, Shoichi
Takeuchi, Yasuaki Honda, Junichi Rekimoto, Masayuki Ishikawa, Ken
Miyashita and Kazuhiro Hara, first edition published on Mar. 25,
1996), and Koichi Matsuda and Yasuaki Honda, "The Latest Trend of
VRML and Cyber-Passage", bit (Kyoritsu Shuppan), 1996, Vol.28,
No.7, pp.29 to 36; No.8, pp.57 to 65; No.9, pp.29 to 36; and No.10,
pp.49 to 58. The official complete specification of the Virtual
Reality Modeling Language Version 2.0, ISO/IEC CD 14772, Aug. 4,
1996 is laid open to the public at
"http://webspace.sgi.com/moving-worlds/spec/index.html" and its
Japanese version is laid open at
"http.://www.webcity.co.jp/info/andoh/VRML/vrm12.-
0/spec-jp/index.html". Moreover, as the VRML 2.0 browser and the
shared server software, for example, the present Applicant, Sony
Corporation has developed and produced "Community Place
Browser/Bureau (trademark)", and its beta version (sample version)
can be downloaded from the homepage "http//vs.sony.co.jp" on the
Internet.
[0343] In the case of building a three-dimensional virtual space
using such VRML 2.0, a VRML file representing desired contents is
first prepared in accordance with the corresponding relation
(routing) between the graphic data and the script, for example,
preparation of the graphic data indicating the shape, motion, and
position of an object (model) in the virtual space by using VRML
(i.e., preparation of the model), addition, to the model, of a
switch (sensor) which generates an event when the user clicks the
mouse to point the model in the virtual space displayed on the
screen (i.e., addition of the sensor), programming of the script
for realizing the event generated in response to the pointing to
the sensor (i.e., preparation of the script), and operation with
respect to the sensor and starting of the script. (Hereinafter,
common nodes such as the graphic data, the script, and the right
prescribed in VRML are also referred to as nodes, as a general
term.) For example, how to write and sample data of VRML 2.0 are
explained at
"http://www.ses.cojp/SES/STAFF/kan/howto/howtol.html".
[0344] The data of VRML 2.0 is constituted by a node and a field.
The field provides a variable to the node and designates the
parameter of the node. The field may be omitted. In the case where
the field is omitted, a default value is used. As the field, a
"single-value field (SF)" having only a single value or a
"multiple-value field (MF)" may be employed. For the detailed
function of the node and the field, "Appendix 1: VRML 2.0 Node
List" should be referred to.
[0345] In VRML 2.0, a mechanism for realizing autonomic behavior in
the VRML virtual space is prescribed. The details of the mechanism
for autonomic behavior are disclosed in the paragraph of concepts
in the specification 4. of the Virtual Reality Modeling Language
Version 2.0, ISO/IEC CD 14772, Aug. 4, 1996, which is laid open to
the public at
"http://webspace.sgi.com/moving-worlds/spec/part1/concepts.html"
and its Japanese version
"http://www.webcity.cojp/info/andoh/VRML/VRML2.0/specjp/-
partl/concepts.html". In the paragraph, the key concepts for using
the VRML specification are described. General items related to
various nodes are described such as the method for coupling a node
to a scene graph, the method in which a node generates or receives
an event, the method for preparing a node type using a prototype,
the method for adding a node type to VRML and exporting it so as to
enable use from outside, and the method for incorporating a script
operating as a program into the VRML file.
[0346] FIG. 49 shows the specific structure of the network system
according to the third embodiment.
[0347] The constituent elements denoted by numerals 301, 302, and
303 in FIG. 49 are client PCs, that is, the above-described
personal computers in which a VRML browser and a WWW browser are
installed and operating. These client PCs are connected to the
Internet 307 via Internet connection service providers 304, 305,
and 306.
[0348] To a LAN (local area network) 309 connected to the Internet
307 via a router 308, a WWW server 310, a WLS (world location
server) 311, a pet shared server 312, AO servers 313, 314, a mail
server 315, and a communication server 316 are connected. In these
servers 310 to 316, hard disks (HDDs) 310a, 310b, 311a to 316a are
provided, respectively.
[0349] The communication server 316 is connected to a telephone set
318 and a facsimile 319 via a public telephone network 317. The
communication server 316 is also connected to a PHS (personal
handyphone system) terminal 323 via a PHS service provider 320, and
is connected through radio waves to a pager terminal 324 via a
pager service provider 321.
[0350] FIG. 50 is a block diagram showing the hardware structure of
the client PC 301 of FIG. 49.
[0351] In FIG. 50, the client PC 301 is constituted by a CPU 330
for controlling each part, an HDD 331 in which the VRML contents
made up of a script program of a virtual life object by VRML 2.0 or
Java (trademark) and the user data are stored, a CD-ROM drive 332
for reading the VRML contents stored on a CD-ROM disc 333, a ROM
334 in which BIOS (basic input output systems) and the like are
stored, a sound processing circuit 335 connected with a microphone
336 and left and right speakers 337, 338, a modem 339 for
connecting to the Internet 307, an I/O (input/output) interface 340
connected with a mouse 341 and a keyboard 342, a graphics
processing circuit 343 having a VRAM 344 provided therein, a CRT
monitor 345, and a RAM 346. At the time of execution, a WWW browser
(e.g., Netscape Navigator (trademark)) operating on an OS (e.g.,
Windows by Microsoft), an interpreter (e.g., Java interpreter), and
a VRML 2.0 browser (e.g., Community place Browser developed by Sony
Corporation) are read into the RAM 346 so as to be executed by the
CPU 330.
[0352] In the VRML 2.0 browser, a syntax interpretation library
(parser) of VRML (e.g., QvLib developed by Silicon Graphics of the
U.S. and made open free of charge), and a software renderer (e.g.,
RenderWare produced by Criterion Software Ltd. of England) are
provided.
[0353] The VRML 2.0 browser of this client PC carries out
transmission/reception of various types of data to/from the WWW
browser (e.g., Netscape Navigator) on the basis of NCAPI (Netscape
Client Application Programming Interface (trademark)), as shown in
FIG. 50.
[0354] On receiving the HTML file and the VRML contents (including
the VRML file and the script program) from the WWW server 310 via
the Internet 307, the WWW browser stores these data into the local
HDD 331. The WWW browser processes the HTML file of the received
data and displays texts and images on the CRT monitor. On the other
hand, the VRML browser processes the VRML file and displays a
three-dimensional virtual space on the CRT monitor, and also
changes the behavior of the object in the three-dimensional virtual
space in accordance with the result of processing of the script
program by the interpreter.
[0355] Although not shown in the drawing, the other client PCs 302
and 303 are constituted similarly to the client PC 301.
[0356] An exemplary operation of the system shown in FIG. 49 will
now be described.
[0357] First, the procedures from the actual downloading of the
VRML contents via the Internet to the provision of a multi-user
environment in which a plurality of users share one virtual space
will be described with reference to FIGS. 51 to 53.
[0358] As indicated by L1 in FIG. 51, the homepage of the website
providing the VRML contents is first browsed by using the WWW
browser. Then, the users of the client PC 301 and the client PC 302
download the VRML contents made up of the VRML 2.0 file and the
script program (e.g., Java script program) for realizing autonomic
behavior in the VRML space, as indicated by L2 in FIG. 51. Of
course, the VRML contents provided on the CD-ROM 333 may be read by
the CD-ROM drive 332.
[0359] Next, as shown in FIG. 52, in the client PC 301 and the
client PC 302, the VRML browser interprets and executes the VRML
2.0 file, which is downloaded and temporarily stored on the local
HDD 331 of the respectively client PCs. Moreover, the client PC 301
and the client PC 302 inquire the WLS 311 for the URL of the pet
shared server 312 on the basis of the VSCP (virtual society server
client protocol), as indicated by L3 in FIG. 52. In this case, the
WLS 311 notifies the client PC 301 and the client PC 302 of the URL
of the pet shared server 312 with reference to a shared server URL
management table stored on an HDD 311a, as indicated by L4 in FIG.
52.
[0360] Using the URL, the client PC 301 and the client PC 302 are
connected to the pet shared server 312, as shown in FIG. 53.
Consequently, transmission of a shared message related to the
position and motion of a shared 3D (three-dimensional) object is
carried out via the pet shared server 312, as indicated by L5 in
FIG. 53, and transfer of the shared message is carried out, as
indicated by L6 in FIG. 53, thus realizing a multi-user
environment.
[0361] In the multi-user environment thus realized, when log-in
from the client PC 301, that is, from the user, is made, the pet
shared server 312 transmits the data of the virtual shared world to
the client PC 301 and transfers the data of the virtual life object
in the AO server 313.
[0362] On receiving the whole data of the virtual shared world and
the data of the object in the virtual shared world, the client PC
301 records these data onto the internal hard disk or stores them
into the internal memory, and then displays the virtual shared
world on the monitor screen on the basis of the recorded data.
[0363] In the case where the user enters his/her own avatar 262 and
the electronic pet 263 into the virtual shared world at the client
PC 301, a call message is transmitted to the AO server 313 via the
pet shared server 312. The AO server 313 executes parameter
updating processing based on the access event.
[0364] As another access event is executed, the operation message
is transmitted to the AO server 313, and the parameter is updated
every time an operation event is generated.
[0365] For example, every time the parameter is updated, it is
transferred to the client PC 301 and the other client PC 302 which
shares the virtual space, by multi-cast processing of the pet
shared server 312.
[0366] In the client PC 301, the script program in which the
processing procedure for controlling the autonomic behavior of the
electronic pet is described is executed on the basis of the
parameter sent back thereto. The value of the field of each node
constituting the three-dimensional object for expressing the
electronic pet of the VRML file is changed. The electronic pet on
which the changed value of the field is reflected is rendered and
displayed on the main window of the VRML browser on the screen of
the image display section of the client PC 301.
[0367] The same processing as that of the client PC 301 is executed
in the other client PC 302 which shares the virtual world. Thus,
the electronic pet on which the value of the field changed in
accordance with the movement of the electronic pet is reflected is
rendered and also displayed on the main window of the VRML browser
on the image display section of the other client PC 302.
[0368] For the details of the above-described connection procedure,
the Japanese Publication of Unexamined Patent Application No. Hei
9-81781 should be referred to.
[0369] In the present embodiment, the information providing medium
for providing the computer program for executing the
above-described processing includes a network transmission medium
such as the Internet or a satellite as well as an information
recording medium such as a magnetic disk or a CD-ROM.
* * * * *
References